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Functions | |
int | main (void) |
Variables | |
const Real | PUMA560_data_DH [] |
Real | PUMA560_data_mDH [] |
const Real | PUMA560_motor [] |
static const char | rcsid [] = "$Id: rtest.cpp,v 1.15 2005/07/01 17:44:53 gourdeau Exp $" |
RCS/CVS version. | |
const Real | STANFORD_data_DH [] |
const Real PUMA560_data_DH[] |
{0, 0, 0, 0, M_PI/2.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.35, 0, 0, 0, 0, 0, 0, 0.4318, 0, 0, 0, 0, 17.4, -0.3638, 0.006, 0.2275, 0.13, 0, 0, 0.524, 0, 0.539, 0, 0, 0, 0.15005, 0.0203, -M_PI/2.0, 0, 0, 0, 4.8, -0.0203, -0.0141, 0.07, 0.066, 0, 0, 0.086, 0, 0.0125, 0, 0, 0, 0.4318, 0.0, M_PI/2.0, 0, 0, 0, 0.82, 0, 0.019, 0, 0.0018, 0, 0, 0.0013, 0, 0.0018, 0, 0, 0, 0, 0.0, -M_PI/2.0, 0, 0, 0, 0.34, 0.0, 0.0, 0.0, 0.0003, 0.0, 0.0, 0.0004, 0.0, 0.0003, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.09, 0.0, 0.0, 0.032, 0.00015, 0.0, 0.0, 0.00015, 0.0, 0.00004, 0}
{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.35, 0, 0, 0, 0, 0.0, -M_PI/2, 0, 0, 0, 17.4, 0.068, 0.006, -0.016, 0.13, 0, 0, 0.524, 0, 0.539, 0, 0, 0, -0.15005, 0.4318, 0, 0, 0, 0, 4.8, 0, -0.070, 0.014, 0.066, 0, 0, 0.0125, 0, 0.066, 0, 0, 0, -0.4318, 0.0203, -M_PI/2.0, 0, 0, 0, 0.82, 0.0, 0.0, -0.019, 0.0018, 0, 0, 0.0018, 0, 0.0013, 0, 0, 0, 0, 0, M_PI/2.0, 0, 0, 0, 0.34, 0, 0, 0.0, 0.0003, 0, 0, 0.0003, 0, 0.0004, 0, 0, 0, 0, 0, -M_PI/2, 0, 0, 0, 0.09, 0, 0, 0.032, 0.00015, 0, 0, 0.00015, 0, 0.00004, 0}
const Real PUMA560_motor[] |
const char rcsid[] = "$Id: rtest.cpp,v 1.15 2005/07/01 17:44:53 gourdeau Exp $" [static] |
const Real STANFORD_data_DH[] |
{0.0, 0.0, 0.4120, 0.0, -M_PI/2, 0,0,0,9.29, 0.0, 0.0175, -0.1105, 0.276, 0.0, 0, 0.255, 0.0, 0.071,0,0,0,0,0, 0.0, 0.0, 0.1540, 0.0, M_PI/2.0, 0,0,0,5.01, 0.0, -1.054, 0.0, 0.108, 0.0, 0.0, 0.018, 0.0, 0.1,0,0,0,0,0, 1.0, -M_PI/2.0, 0.0, 0.0, 0.0, 0,0,0,4.25, 0.0, 0.0, -6.447, 2.51, 0.0, 0.0, 2.51, 0.0, 0.006,0,0,0,0,0, 0.0, 0.0, 0.0, 0.0, -M_PI/2.0, 0,0,0,1.08, 0.0, 0.092, -0.054, 0.002, 0.0, 0.0, 0.001, 0.0, 0.001,0,0,0,0,0, 0.0, 0.0, 0.0, 0.0, M_PI/2.0, 0,0,0,0.63, 0.0, 0.0, 0.566, 0.003, 0.0, 0.0, 0.003, 0.0, 0.0004,0,0,0,0,0, 0.0, 0.0, 0.2630, 0.0, 0.0, 0,0,0,0.51, 0.0, 0.0, 1.5540, 0.013, 0.0, 0.0, 0.013, 0.0, 0.0003,0,0,0,0,0}