Classes | Functions | Variables
robot.h File Reference
#include "utils.h"
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Classes

class  Link
 Link definitions. More...
class  mRobot
 Modified DH notation robot class. More...
class  mRobot_min_para
 Modified DH notation and minimal inertial parameters robot class. More...
class  Robot
 DH notation robot class. More...
class  Robot_basic
 Virtual base robot class. More...

Functions

void perturb_robot (Robot_basic &robot, const double f=0.1)
 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

static const char header_rcsid [] = "$Id: robot.h,v 1.52 2006/05/16 16:11:15 gourdeau Exp $"
 RCS/CVS version.

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

const char header_rcsid[] = "$Id: robot.h,v 1.52 2006/05/16 16:11:15 gourdeau Exp $" [static]

RCS/CVS version.

Definition at line 120 of file robot.h.

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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