Initialisation of differents robot class.
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#include <time.h>
#include "config.h"
#include "robot.h"
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  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  matrix.
|
Detailed Description
Initialisation of differents robot class.
Definition in file robot.cpp.
Function Documentation
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.
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.
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.
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.
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.
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.
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 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] |
Used to initialize a matrix.
Definition at line 136 of file robot.cpp.
