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.

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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.

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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.