bench.cpp File Reference

A benchmark file. More...

#include <time.h>
#include "robot.h"
#include "stewart.h"

Include dependency graph for bench.cpp:

Go to the source code of this file.

Defines
#define	NTRY   2000
Functions
int	main (void)
int	stewartmain (void)
Variables
Real	Comm []
const Real	PUMA560_data []
static const char	rcsid [] = "$Id: bench.cpp,v 1.20 2005/07/01 16:16:35 gourdeau Exp $"
	RCS/CVS version.
Real	Stewart_ddq []
Real	Stewart_dq []
Real	Stewart_Ini []
Real	Stewart_l []
Real	Stewart_q []
Real	Stewart_qg []
Real	Stewart_tddq []
Real	Tau []

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Detailed Description

A benchmark file.

Prints the time, on the console, to perform certain operations.

Definition in file bench.cpp.

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Define Documentation

#define NTRY   2000

Definition at line 73 of file bench.cpp.

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Function Documentation

int main

(

void

)

Definition at line 183 of file bench.cpp.

int stewartmain

(

void

)

Definition at line 101 of file bench.cpp.

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Variable Documentation

Real Comm[]

Initial value:

   {1, 0, 0, -10, 0, 0}

Definition at line 96 of file bench.cpp.

const Real PUMA560_data[]

Initial value:

  {0, 0, 0, 0, M_PI/2.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.35, 0, 0, 0, 0, 0, 0, 0, 
   0, 0, 0, 0.4318, 0, 0, 0, 0, 17.4, -0.3638, 0.006, 0.2275, 0.13, 0, 0, 0.524, 0, 0.539, 0, 0, 0, 0, 0,
   0, 0, 0.15005, 0.0203, -M_PI/2.0, 0, 0, 0, 4.8, -0.0203, -0.0141, 0.07, 0.066, 0, 0, 0.086, 0, 0.0125, 0, 0, 0, 0, 0,
   0, 0, 0.4318, 0.0, M_PI/2.0, 0, 0, 0, 0.82, 0, 0.019, 0, 0.0018, 0, 0, 0.0013, 0, 0.0018, 0, 0, 0, 0, 0, 
   0, 0, 0, 0.0, -M_PI/2.0, 0, 0, 0, 0.34, 0.0, 0.0, 0.0, 0.0003, 0.0, 0.0, 0.0004, 0.0, 0.0003, 0, 0, 0, 0, 0,
   0, 0, 0, 0, 0, 0, 0, 0, 0.09, 0.0, 0.0, 0.032, 0.00015, 0.0, 0.0, 0.00015, 0.0, 0.00004, 0, 0, 0, 0, 0}

Definition at line 175 of file bench.cpp.

const char rcsid[] = "$Id: bench.cpp,v 1.20 2005/07/01 16:16:35 gourdeau Exp $" [static]

RCS/CVS version.

Definition at line 55 of file bench.cpp.

Real Stewart_ddq[]

Initial value:

   {-10.0, -10.0, -10, -10.0, -10, -10}

Definition at line 92 of file bench.cpp.

Real Stewart_dq[]

Initial value:

   {0.2, 0.3, -0.4, 0.1, -1.4, 0.1}

Definition at line 90 of file bench.cpp.

Real Stewart_Ini[]

Initial value:

   {1.758, 2.8, -1.015, 0.225, 0.0, -0.228, 3.358, 0.05, 4.237, 0.1406, 10, 12.5, 0.5, 0.35, 0.0, 0.0, 0.0,
    1.6021, 3.07, -0.925, 0.1125, 0.1949, -0.228, 3.358, 0.05, 4.237, 0.1406, 10, 12.5, 0.5, 0.35, 0.0, 0.0, 0.0,
    -1.7580, 2.8, -1.015, -0.1125, 0.1949, -0.228, 3.358, 0.05, 4.237, 0.1406, 10, 12.5, 0.5, 0.35, 0.0, 0.0, 0.0,
    -1.6021, 3.07, -0.925, -0.225, 0.0, -0.228, 3.358, 0.05, 4.237, 0.1406, 10, 12.5, 0.5, 0.35, 0.0, 0.0, 0.0,
    0.0, 2.8, 2.03, -0.1125, -0.1949, -0.228, 3.358, 0.05, 4.237, 0.1406, 10, 12.5, 0.5, 0.35, 0.0, 0.0, 0.0,
    0.0, 3.07, 1.85, 0.1125, -0.1949, -0.228, 3.358, 0.05, 4.237, 0.1406, 10, 12.5, 0.5, 0.35, 0.0, 0.0, 0.0,
    0.0, 0.0, -0.114, 1.001, 0.59, 0.843, 10, 0.12, 0.04, 0.5, 0.5, 0.5, 1.5, 0.5, 0.005, 5.44, 0.443}

Definition at line 75 of file bench.cpp.

Real Stewart_l[]

Initial value:

   {3.0508, 3.2324, 3.2997, 3.4560, 3.5797, 3.6935}

Definition at line 88 of file bench.cpp.

Real Stewart_q[]

Initial value:

   {0.2, 0.3, -0.4, 0.1, -1.4, 0.1}

Definition at line 84 of file bench.cpp.

Real Stewart_qg[]

Initial value:

   {0.25, 0.25, -0.45, 0.07, -1.7, 0.07}

Definition at line 86 of file bench.cpp.

Real Stewart_tddq[]

Initial value:

   {0, 0, 0, 0, 0, 0}

Definition at line 94 of file bench.cpp.

Real Tau[]

Initial value:

   {126.219689, 789.968672, 0.708602, 79.122963, 81.806978, -31.61797}

Definition at line 98 of file bench.cpp.