Functions | Variables
robot.cpp File Reference
#include <time.h>
#include "config.h"
#include "robot.h"
Include dependency graph for robot.cpp:

Go to the source code of this file.

Functions

void perturb_robot (Robot_basic &robot, const double f)
 Modify a robot.
bool Puma_DH (const Robot_basic &robot)
 Return true if the robot is like a Puma on DH notation.
bool Puma_mDH (const Robot_basic &robot)
 Return true if the robot is like a Puma on modified DH notation.
bool Rhino_DH (const Robot_basic &robot)
 Return true if the robot is like a Rhino on DH notation.
bool Rhino_mDH (const Robot_basic &robot)
 Return true if the robot is like a Rhino on modified DH notation.
bool Schilling_DH (const Robot_basic &robot)
 Return true if the robot is like a Schilling on DH notation.
bool Schilling_mDH (const Robot_basic &robot)
 Return true if the robot is like a Schilling on modified DH notation.

Variables

Real fourbyfourident [] = {1.0,0.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,0.0,1.0}
 Used to initialize a $4\times 4$ matrix.
static const char rcsid [] = "$Id: robot.cpp,v 1.50 2006/05/16 19:24:26 gourdeau Exp $"
 RCS/CVS version.
Real threebythreeident [] = {1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0}
 Used to initialize a $3\times 3$ matrix.

Function Documentation

void perturb_robot ( Robot_basic robot,
const double  f 
)

Modify a robot.

Parameters:
robot,:Robot_basic reference.
f,:Percentage of erreur between 0 and 1.

f represents an error to added on the robot inertial parameter. f is between 0 (no error) and 1 (100% error).

Definition at line 1446 of file robot.cpp.

bool Puma_DH ( const Robot_basic robot)

Return true if the robot is like a Puma on DH notation.

Compare the robot DH table with the Puma DH table. The function return true if the tables are similar (same alpha and similar a and d parameters).

Definition at line 1516 of file robot.cpp.

bool Puma_mDH ( const Robot_basic robot)

Return true if the robot is like a Puma on modified DH notation.

Compare the robot DH table with the Puma DH table. The function return true if the tables are similar (same alpha and similar a and d parameters).

Definition at line 1615 of file robot.cpp.

bool Rhino_DH ( const Robot_basic robot)

Return true if the robot is like a Rhino on DH notation.

Compare the robot DH table with the Puma DH table. The function return true if the tables are similar (same alpha and similar a and d parameters).

Definition at line 1483 of file robot.cpp.

bool Rhino_mDH ( const Robot_basic robot)

Return true if the robot is like a Rhino on modified DH notation.

Compare the robot DH table with the Puma DH table. The function return true if the tables are similar (same alpha and similar a and d parameters).

Definition at line 1583 of file robot.cpp.

bool Schilling_DH ( const Robot_basic robot)

Return true if the robot is like a Schilling on DH notation.

Compare the robot DH table with the Schilling DH table. The function return true if the tables are similar (same alpha and similar a and d parameters).

Definition at line 1549 of file robot.cpp.

bool Schilling_mDH ( const Robot_basic robot)

Return true if the robot is like a Schilling on modified DH notation.

Compare the robot DH table with the Schilling DH table. The function return true if the tables are similar (same alpha and similar a and d parameters).

Definition at line 1649 of file robot.cpp.


Variable Documentation

Real fourbyfourident[] = {1.0,0.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,0.0,1.0}

Used to initialize a $4\times 4$ matrix.

Definition at line 133 of file robot.cpp.

const char rcsid[] = "$Id: robot.cpp,v 1.50 2006/05/16 19:24:26 gourdeau Exp $" [static]

RCS/CVS version.

Definition at line 121 of file robot.cpp.

Real threebythreeident[] = {1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0}

Used to initialize a $3\times 3$ matrix.

Definition at line 136 of file robot.cpp.

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kni
Author(s): Neuronics AG (see AUTHORS.txt); ROS wrapper by Martin Günther
autogenerated on Tue May 28 2013 14:52:55