This is an example of customize Dynamics class. More...
Inheritance diagram for New_dynamics:
Public Member Functions | |
| New_dynamics (Robot_basic *robot_) | |
| Constructor. More... | |
| virtual void | plot () |
| Customize plot function. More... | |
 Public Member Functions inherited from Dynamics | |
| Dynamics (Robot_basic *robot_) | |
| Constructor. More... | |
| void | reset_time () |
| Set the simulation time to the inital time. More... | |
| void | Runge_Kutta4 () |
| Runge Kutta solver. More... | |
| void | Runge_Kutta4_Real_time () |
| Runge Kutta solver for real time. More... | |
| short | set_controller (const Control_Select &x) |
| Set the control variable from the Control_Select reference. More... | |
| void | set_dof (Robot_basic *robot_) |
| Set the degree of freedom. More... | |
| void | set_final_time (const double tf) |
| Set the file time. More... | |
| ReturnMatrix | set_robot_on_first_point_of_splines () |
| Set the robot on first point of trajectory. More... | |
| void | set_time_frame (const int nsteps) |
| Set the number of iterations. More... | |
| short | set_trajectory (const Trajectory_Select &x) |
| Set the path_select variable from the Trajectory_Select reference. More... | |
| ReturnMatrix | xdot (const Matrix &xin) |
| Obtain state derivative. More... | |
| virtual | ~Dynamics () |
Public Attributes | |
| bool | first_pass_plot |
| int | i |
| Robot_basic * | robot |
| RowVector | tout |
| Matrix | xout |
| Public Attributes inherited from Dynamics | |
| Control_Select | control |
| Instance of Control_Select class. More... | |
| int | dof_fix |
| Degree of freedom + virtual link. More... | |
| double | dt |
| Time frame. More... | |
| bool | first_pass_Kutta |
| First time in all Runge_Kutta4 functions. More... | |
| double | h |
| Runge Kutta temporary variable. More... | |
| double | h2 |
| Runge Kutta temporary variable. More... | |
| Matrix | k1 |
| Runge Kutta temporary variable. More... | |
| Matrix | k2 |
| Runge Kutta temporary variable. More... | |
| Matrix | k3 |
| Runge Kutta temporary variable. More... | |
| Matrix | k4 |
| Runge Kutta temporary variable. More... | |
| int | ndof |
| Degree of freedom. More... | |
| int | nsteps |
| Numbers of iterations between. More... | |
| Trajectory_Select | path_select |
| Instance of Trajectory_Select class. More... | |
| ColumnVector | pd |
| Desired end effector cartesian position. More... | |
| ColumnVector | ppd |
| Desired end effector cartesian velocity. More... | |
| ColumnVector | pppd |
| Desired end effector cartesian acceleration. More... | |
| ColumnVector | q |
| Joints positions. More... | |
| ColumnVector | qd |
| Desired joints positions. More... | |
| ColumnVector | qp |
| Joints velocities. More... | |
| ColumnVector | qpd |
| Desired joints velocities. More... | |
| ColumnVector | qpp |
| Joints accelerations. More... | |
| ColumnVector | qppd |
| Desired joints accelerations. More... | |
| Quaternion | quatd |
| Desired orientation express by a quaternion. More... | |
| Robot_basic * | robot |
| Pointer on Robot_basic class. More... | |
| ColumnVector | tau |
| Controller output torque. More... | |
| double | tf |
| Final time used in Runge_Kutta4_Real_time. More... | |
| double | tf_cont |
| Final time used in Runge_Kutta4. More... | |
| double | time |
| Time during simulation. More... | |
| double | to |
| Initial simulation time. More... | |
| ColumnVector | wd |
| Desired end effector cartesian angular velocity. More... | |
| ColumnVector | wpd |
| Desired end effector cartesian angular acceleration. More... | |
| Matrix | x |
| Stated vector obtain in Runge Kutta functions. More... | |
| Matrix | xd |
| Statd vector derivative obtaint in xdot function. More... | |
Additional Inherited Members | |
| Static Public Member Functions inherited from Dynamics | |
| static Dynamics * | Instance () |
| A pointer to Dynamics instance. Pointer is 0 if there is no instance (logic done in Constructor). More... | |
| Static Public Attributes inherited from Dynamics | |
| static Dynamics * | instance = 0 |
| Static pointer on Dynamics class. More... | |
Detailed Description
This is an example of customize Dynamics class.
This class enherite from Dynamics class. At every time frame the new virtual plot functions record the current time and the robot joints positions. The data can then be used to create a plot.
Definition at line 63 of file demo_2dof_pd.cpp.
Constructor & Destructor Documentation
| New_dynamics::New_dynamics | ( | Robot_basic * | robot_ | ) |
Constructor.
Definition at line 80 of file demo_2dof_pd.cpp.
Member Function Documentation
|
virtual |
Customize plot function.
Record the time (tout) and the joints positions (xout). This member function is call by the member function xdot.
Reimplemented from Dynamics.
Definition at line 94 of file demo_2dof_pd.cpp.
Member Data Documentation
| bool New_dynamics::first_pass_plot |
First time in plot function.
Definition at line 70 of file demo_2dof_pd.cpp.
| int New_dynamics::i |
Temporary index.
Definition at line 73 of file demo_2dof_pd.cpp.
| Robot_basic* New_dynamics::robot |
Robot_basic pointer.
Definition at line 69 of file demo_2dof_pd.cpp.
| RowVector New_dynamics::tout |
Output time vector.
Definition at line 71 of file demo_2dof_pd.cpp.
| Matrix New_dynamics::xout |
Output state vector.
Definition at line 72 of file demo_2dof_pd.cpp.
The documentation for this class was generated from the following file: