Public Member Functions | Public Attributes | Private Types | Private Member Functions | Private Attributes | Friends
Robot_basic Class Reference

Virtual base robot class. More...

#include <robot.h>

Inheritance diagram for Robot_basic:
Inheritance graph
[legend]

List of all members.

Public Member Functions

ReturnMatrix acceleration (const ColumnVector &q, const ColumnVector &qp, const ColumnVector &tau)
 Joints acceleration without contact force.
ReturnMatrix acceleration (const ColumnVector &q, const ColumnVector &qp, const ColumnVector &tau, const ColumnVector &Fext, const ColumnVector &Next)
 Joints acceleration.
virtual ReturnMatrix C (const ColumnVector &qp)=0
virtual void delta_torque (const ColumnVector &q, const ColumnVector &qp, const ColumnVector &qpp, const ColumnVector &dq, const ColumnVector &dqp, const ColumnVector &dqpp, ColumnVector &torque, ColumnVector &dtorque)=0
virtual void dq_torque (const ColumnVector &q, const ColumnVector &qp, const ColumnVector &qpp, const ColumnVector &dq, ColumnVector &torque, ColumnVector &dtorque)=0
virtual void dqp_torque (const ColumnVector &q, const ColumnVector &qp, const ColumnVector &dqp, ColumnVector &torque, ColumnVector &dtorque)=0
ReturnMatrix dtau_dq (const ColumnVector &q, const ColumnVector &qp, const ColumnVector &qpp)
 Sensitivity of the dynamics with respect to $ q $.
ReturnMatrix dtau_dqp (const ColumnVector &q, const ColumnVector &qp)
 Sensitivity of the dynamics with respect to $\dot{q} $.
virtual void dTdqi (Matrix &dRot, ColumnVector &dp, const int i)=0
virtual ReturnMatrix dTdqi (const int i)=0
void error (const std::string &msg1) const
 Print the message msg1 on the console.
virtual ReturnMatrix G ()=0
int get_available_dof () const
 Counts number of currently non-immobile links.
int get_available_dof (const int endlink) const
 Counts number of currently non-immobile links up to and including endlink.
ReturnMatrix get_available_q (void) const
 Return the joint position vector of available (non-immobile) joints.
ReturnMatrix get_available_q (const int endlink) const
 Return the joint position vector of available (non-immobile) joints up to and including endlink.
ReturnMatrix get_available_qp (void) const
 Return the joint velocity vector of available (non-immobile) joints.
ReturnMatrix get_available_qp (const int endlink) const
 Return the joint velocity vector of available (non-immobile) joints up to and including endlink.
ReturnMatrix get_available_qpp (void) const
 Return the joint acceleration vector of available (non-immobile) joints.
ReturnMatrix get_available_qpp (const int endlink) const
 Return the joint acceleration vector of available (non-immobile) joints up to and including endlink.
bool get_DH () const
 Return true if in DH notation, false otherwise.
int get_dof () const
 Return dof.
int get_fix () const
 Return fix.
Real get_q (const int i) const
ReturnMatrix get_q (void) const
 Return the joint position vector.
ReturnMatrix get_qp (void) const
 Return the joint velocity vector.
ReturnMatrix get_qpp (void) const
 Return the joint acceleration vector.
ReturnMatrix inertia (const ColumnVector &q)
 Inertia of the manipulator.
virtual ReturnMatrix inv_kin (const Matrix &Tobj, const int mj=0)
 Numerical inverse kinematics. See inv_kin(const Matrix & Tobj, const int mj, const int endlink, bool & converge)
ReturnMatrix inv_kin (const Matrix &Tobj, const int mj, bool &converge)
virtual ReturnMatrix inv_kin (const Matrix &Tobj, const int mj, const int endlink, bool &converge)
 Numerical inverse kinematics.
virtual ReturnMatrix inv_kin_puma (const Matrix &Tobj, bool &converge)=0
virtual ReturnMatrix inv_kin_rhino (const Matrix &Tobj, bool &converge)=0
virtual ReturnMatrix inv_kin_schilling (const Matrix &Tobj, bool &converge)=0
virtual ReturnMatrix jacobian (const int ref=0) const
 Jacobian of mobile links expressed at frame ref.
virtual ReturnMatrix jacobian (const int endlink, const int ref) const =0
ReturnMatrix jacobian_DLS_inv (const double eps, const double lambda_max, const int ref=0) const
 Inverse Jacobian based on damped least squares inverse.
virtual ReturnMatrix jacobian_dot (const int ref=0) const =0
void kine (Matrix &Rot, ColumnVector &pos) const
 Direct kinematics at end effector.
void kine (Matrix &Rot, ColumnVector &pos, const int j) const
 Direct kinematics at end effector.
ReturnMatrix kine (void) const
 Return the end effector direct kinematics transform matrix.
ReturnMatrix kine (const int j) const
 Return the frame j direct kinematics transform matrix.
ReturnMatrix kine_pd (const int ref=0) const
 Direct kinematics with velocity.
virtual void kine_pd (Matrix &Rot, ColumnVector &pos, ColumnVector &pos_dot, const int ref) const =0
Robot_basicoperator= (const Robot_basic &x)
 Overload = operator.
 Robot_basic (const int ndof=1, const bool dh_parameter=false, const bool min_inertial_para=false)
 Constructor.
 Robot_basic (const Matrix &initrobot_motor, const bool dh_parameter=false, const bool min_inertial_para=false)
 Constructor.
 Robot_basic (const Matrix &initrobot, const Matrix &initmotor, const bool dh_parameter=false, const bool min_inertial_para=false)
 Constructor.
 Robot_basic (const std::string &filename, const std::string &robotName, const bool dh_parameter=false, const bool min_inertial_para=false)
 Robot_basic (const Robot_basic &x)
 Copy constructor.
virtual void robotType_inv_kin ()=0
void set_q (const ColumnVector &q)
 Set the joint position vector.
void set_q (const Matrix &q)
 Set the joint position vector.
void set_q (const Real q, const int i)
void set_qp (const ColumnVector &qp)
 Set the joint velocity vector.
void set_qpp (const ColumnVector &qpp)
 Set the joint acceleration vector.
virtual ReturnMatrix torque (const ColumnVector &q, const ColumnVector &qp, const ColumnVector &qpp)=0
virtual ReturnMatrix torque (const ColumnVector &q, const ColumnVector &qp, const ColumnVector &qpp, const ColumnVector &Fext_, const ColumnVector &Next_)=0
virtual ReturnMatrix torque_novelocity (const ColumnVector &qpp)=0
virtual ~Robot_basic ()
 Destructor.

Public Attributes

ColumnVector * a
ColumnVector * da
ColumnVector * df
ColumnVector * dF
ColumnVector * dn
ColumnVector * dN
ColumnVector * dp
ColumnVector * dvp
ColumnVector * dw
ColumnVector * dwp
ColumnVector * f
ColumnVector * F
ColumnVector * f_nv
ColumnVector gravity
 Gravity vector.
Linklinks
 Pointer on Link cclass.
ColumnVector * N
ColumnVector * n
ColumnVector * n_nv
ColumnVector * p
ColumnVector * pp
Matrix * R
 Temprary rotation matrix.
ColumnVector * vp
ColumnVector * w
ColumnVector * wp
ColumnVector z0
 Axis vector at each joint.

Private Types

enum  EnumRobotType { DEFAULT = 0, RHINO = 1, PUMA = 2, SCHILLING = 3 }
 enum EnumRobotType More...

Private Member Functions

void cleanUpPointers ()
 Free all vectors and matrix memory.

Private Attributes

int dof
 Degree of freedom.
int fix
 Virtual link, used with modified DH notation.
EnumRobotType robotType
 Robot type.

Friends

class mRobot
class mRobot_min_para
class mRobotgl
class Robot
class Robotgl

Detailed Description

Virtual base robot class.

Definition at line 216 of file robot.h.


Member Enumeration Documentation

enum EnumRobotType

Enumerator:
DEFAULT 

Default robot familly.

RHINO 

Rhino familly.

PUMA 

Puma familly.

SCHILLING 

Schilling familly.

Definition at line 324 of file robot.h.


Constructor & Destructor Documentation

Robot_basic::Robot_basic ( const int  ndof = 1,
const bool  dh_parameter = false,
const bool  min_inertial_para = false 
)

Constructor.

Parameters:
ndof,:Robot degree of freedom.
dh_parameter,:true if DH notation, false if modified DH notation.
min_inertial_para,:true inertial parameter are in minimal form.

Allocate memory for vectors and matrix pointers. Initialize all the Links instance.

Definition at line 573 of file robot.cpp.

Robot_basic::Robot_basic ( const Matrix &  dhinit,
const bool  dh_parameter = false,
const bool  min_inertial_para = false 
)

Constructor.

Parameters:
dhinit,:Robot initialization matrix.
dh_parameter,:true if DH notation, false if modified DH notation.
min_inertial_para,:true inertial parameter are in minimal form.

Allocate memory for vectors and matrix pointers. Initialize all the Links instance.

Definition at line 343 of file robot.cpp.

Robot_basic::Robot_basic ( const Matrix &  initrobot,
const Matrix &  initmotor,
const bool  dh_parameter = false,
const bool  min_inertial_para = false 
)

Constructor.

Parameters:
initrobot,:Robot initialization matrix.
initmotor,:Motor initialization matrix.
dh_parameter,:true if DH notation, false if modified DH notation.
min_inertial_para,:true inertial parameter are in minimal form.

Allocate memory for vectors and matrix pointers. Initialize all the Links instance.

Definition at line 451 of file robot.cpp.

Robot_basic::Robot_basic ( const std::string &  filename,
const std::string &  robotName,
const bool  dh_parameter = false,
const bool  min_inertial_para = false 
)

Copy constructor.

Definition at line 651 of file robot.cpp.

Destructor.

Free all vectors and matrix memory.

Definition at line 879 of file robot.cpp.


Member Function Documentation

ReturnMatrix Robot_basic::acceleration ( const ColumnVector &  q,
const ColumnVector &  qp,
const ColumnVector &  tau 
)

Joints acceleration without contact force.

Definition at line 100 of file dynamics.cpp.

ReturnMatrix Robot_basic::acceleration ( const ColumnVector &  q,
const ColumnVector &  qp,
const ColumnVector &  tau_cmd,
const ColumnVector &  Fext,
const ColumnVector &  Next 
)

Joints acceleration.

The robot dynamics is

\[ B(q)\ddot{q} + C(q,\dot{q})\dot{q} + D\dot{q} + g(q) = \tau - J^T(q)f \]

then the joint acceleration is

\[ \ddot{q} = B^{-1}(q)\big(\tau - J^T(q)f - C(q,\dot{q})\dot{q} - D\dot{q} - g(q)\big ) \]

Definition at line 112 of file dynamics.cpp.

virtual ReturnMatrix Robot_basic::C ( const ColumnVector &  qp) [pure virtual]

Implemented in mRobot_min_para, mRobot, and Robot.

void Robot_basic::cleanUpPointers ( ) [private]

Free all vectors and matrix memory.

Definition at line 1202 of file robot.cpp.

virtual void Robot_basic::delta_torque ( const ColumnVector &  q,
const ColumnVector &  qp,
const ColumnVector &  qpp,
const ColumnVector &  dq,
const ColumnVector &  dqp,
const ColumnVector &  dqpp,
ColumnVector &  torque,
ColumnVector &  dtorque 
) [pure virtual]

Implemented in mRobot_min_para, mRobot, and Robot.

virtual void Robot_basic::dq_torque ( const ColumnVector &  q,
const ColumnVector &  qp,
const ColumnVector &  qpp,
const ColumnVector &  dq,
ColumnVector &  torque,
ColumnVector &  dtorque 
) [pure virtual]

Implemented in mRobot_min_para, mRobot, and Robot.

virtual void Robot_basic::dqp_torque ( const ColumnVector &  q,
const ColumnVector &  qp,
const ColumnVector &  dqp,
ColumnVector &  torque,
ColumnVector &  dtorque 
) [pure virtual]

Implemented in mRobot_min_para, mRobot, and Robot.

ReturnMatrix Robot_basic::dtau_dq ( const ColumnVector &  q,
const ColumnVector &  qp,
const ColumnVector &  qpp 
)

Sensitivity of the dynamics with respect to $ q $.

This function computes $S_2(q, \dot{q}, \ddot{q})$.

Definition at line 58 of file sensitiv.cpp.

ReturnMatrix Robot_basic::dtau_dqp ( const ColumnVector &  q,
const ColumnVector &  qp 
)

Sensitivity of the dynamics with respect to $\dot{q} $.

This function computes $S_1(q, \dot{q})$.

Definition at line 84 of file sensitiv.cpp.

virtual void Robot_basic::dTdqi ( Matrix &  dRot,
ColumnVector &  dp,
const int  i 
) [pure virtual]

Implemented in mRobot_min_para, mRobot, and Robot.

virtual ReturnMatrix Robot_basic::dTdqi ( const int  i) [pure virtual]

Implemented in mRobot_min_para, mRobot, and Robot.

void Robot_basic::error ( const std::string &  msg1) const

Print the message msg1 on the console.

Definition at line 987 of file robot.cpp.

virtual ReturnMatrix Robot_basic::G ( ) [pure virtual]

Implemented in mRobot_min_para, mRobot, and Robot.

int Robot_basic::get_available_dof ( ) const [inline]

Counts number of currently non-immobile links.

Definition at line 241 of file robot.h.

int Robot_basic::get_available_dof ( const int  endlink) const

Counts number of currently non-immobile links up to and including endlink.

Definition at line 994 of file robot.cpp.

ReturnMatrix Robot_basic::get_available_q ( void  ) const [inline]

Return the joint position vector of available (non-immobile) joints.

Definition at line 247 of file robot.h.

ReturnMatrix Robot_basic::get_available_q ( const int  endlink) const

Return the joint position vector of available (non-immobile) joints up to and including endlink.

Definition at line 1034 of file robot.cpp.

ReturnMatrix Robot_basic::get_available_qp ( void  ) const [inline]

Return the joint velocity vector of available (non-immobile) joints.

Definition at line 248 of file robot.h.

ReturnMatrix Robot_basic::get_available_qp ( const int  endlink) const

Return the joint velocity vector of available (non-immobile) joints up to and including endlink.

Definition at line 1046 of file robot.cpp.

ReturnMatrix Robot_basic::get_available_qpp ( void  ) const [inline]

Return the joint acceleration vector of available (non-immobile) joints.

Definition at line 249 of file robot.h.

ReturnMatrix Robot_basic::get_available_qpp ( const int  endlink) const

Return the joint acceleration vector of available (non-immobile) joints up to and including endlink.

Definition at line 1058 of file robot.cpp.

bool Robot_basic::get_DH ( ) const [inline]

Return true if in DH notation, false otherwise.

Definition at line 239 of file robot.h.

int Robot_basic::get_dof ( ) const [inline]

Return dof.

Definition at line 240 of file robot.h.

int Robot_basic::get_fix ( ) const [inline]

Return fix.

Definition at line 243 of file robot.h.

Real Robot_basic::get_q ( const int  i) const [inline]

< Return joint i position.

Definition at line 235 of file robot.h.

ReturnMatrix Robot_basic::get_q ( void  ) const

Return the joint position vector.

Definition at line 1004 of file robot.cpp.

ReturnMatrix Robot_basic::get_qp ( void  ) const

Return the joint velocity vector.

Definition at line 1014 of file robot.cpp.

ReturnMatrix Robot_basic::get_qpp ( void  ) const

Return the joint acceleration vector.

Definition at line 1024 of file robot.cpp.

ReturnMatrix Robot_basic::inertia ( const ColumnVector &  q)

Inertia of the manipulator.

Definition at line 83 of file dynamics.cpp.

ReturnMatrix Robot_basic::inv_kin ( const Matrix &  Tobj,
const int  mj = 0 
) [virtual]

Numerical inverse kinematics. See inv_kin(const Matrix & Tobj, const int mj, const int endlink, bool & converge)

Overload inv_kin function.

Reimplemented in mRobot_min_para, mRobot, and Robot.

Definition at line 83 of file invkine.cpp.

ReturnMatrix Robot_basic::inv_kin ( const Matrix &  Tobj,
const int  mj,
bool &  converge 
) [inline]

Definition at line 271 of file robot.h.

ReturnMatrix Robot_basic::inv_kin ( const Matrix &  Tobj,
const int  mj,
const int  endlink,
bool &  converge 
) [virtual]

Numerical inverse kinematics.

Parameters:
Tobj,:Transformation matrix expressing the desired end effector pose.
mj,:Select algorithm type, 0: based on Jacobian, 1: based on derivative of T.
converge,:Indicate if the algorithm converge.
endlink,:the link to pretend is the end effector

The joint position vector before the inverse kinematics is returned if the algorithm does not converge.

Reimplemented in mRobot_min_para, mRobot, and Robot.

Definition at line 91 of file invkine.cpp.

virtual ReturnMatrix Robot_basic::inv_kin_puma ( const Matrix &  Tobj,
bool &  converge 
) [pure virtual]

Implemented in mRobot_min_para, mRobot, and Robot.

virtual ReturnMatrix Robot_basic::inv_kin_rhino ( const Matrix &  Tobj,
bool &  converge 
) [pure virtual]

Implemented in mRobot_min_para, mRobot, and Robot.

virtual ReturnMatrix Robot_basic::inv_kin_schilling ( const Matrix &  Tobj,
bool &  converge 
) [pure virtual]

Implemented in mRobot_min_para, mRobot, and Robot.

virtual ReturnMatrix Robot_basic::jacobian ( const int  ref = 0) const [inline, virtual]

Jacobian of mobile links expressed at frame ref.

Reimplemented in mRobot_min_para, mRobot, and Robot.

Definition at line 277 of file robot.h.

virtual ReturnMatrix Robot_basic::jacobian ( const int  endlink,
const int  ref 
) const [pure virtual]

Implemented in mRobot_min_para, mRobot, and Robot.

ReturnMatrix Robot_basic::jacobian_DLS_inv ( const double  eps,
const double  lambda_max,
const int  ref = 0 
) const

Inverse Jacobian based on damped least squares inverse.

Parameters:
eps,:Range of singular region.
lambda_max,:Value to obtain a good solution in singular region.
ref,:Selected frame (ex: joint 4).

The Jacobian inverse, based on damped least squares, is

\[ J^{-1}(q) = \big(J^T(q)J(q) + \lambda^2I \big)^{-1}J^T(q) \]

where $\lambda$ and $I$ is a damping factor and the identity matrix respectively. Based on SVD (Singular Value Decomposition) the Jacobian is $ J = \sum_{i=1}^{m}\sigma_i u_i v_i^T$, where $u_i$, $v_i$ and $\sigma_i$ are respectively the input vector, the ouput vector and the singular values ( $\sigma_1 \geq \sigma_2 \cdots \geq \sigma_r \geq 0$, $r$ is the rank of J). Using the previous equations we obtain

\[ J^{-1}(q) = \sum_{i=1}^{m} \frac{\sigma_i}{\sigma_i^2 + \lambda_i^2}v_iu_i \]

A singular region, based on the smallest singular value, can be defined by

\[ \lambda^2 = \Bigg\{ \begin{array}{cc} 0 & \textrm{si $\sigma_6 \geq \epsilon$} \\ \Big(1 - (\frac{\sigma_6}{\epsilon})^2 \Big)\lambda^2_{max} & \textrm{sinon} \end{array} \]

Definition at line 169 of file kinemat.cpp.

virtual ReturnMatrix Robot_basic::jacobian_dot ( const int  ref = 0) const [pure virtual]

Implemented in mRobot_min_para, mRobot, and Robot.

void Robot_basic::kine ( Matrix &  Rot,
ColumnVector &  pos 
) const

Direct kinematics at end effector.

Parameters:
Rot,:End effector orientation.
pos,:Enf effector position.

Definition at line 92 of file kinemat.cpp.

void Robot_basic::kine ( Matrix &  Rot,
ColumnVector &  pos,
const int  j 
) const

Direct kinematics at end effector.

Parameters:
Rot,:Frame j orientation.
pos,:Frame j position.
j,:Selected frame.

Definition at line 102 of file kinemat.cpp.

ReturnMatrix Robot_basic::kine ( void  ) const

Return the end effector direct kinematics transform matrix.

Definition at line 120 of file kinemat.cpp.

ReturnMatrix Robot_basic::kine ( const int  j) const

Return the frame j direct kinematics transform matrix.

Definition at line 129 of file kinemat.cpp.

ReturnMatrix Robot_basic::kine_pd ( const int  j = 0) const

Direct kinematics with velocity.

Return a $3\times 5$ matrix. The first three columns are the frame j to the base rotation, the fourth column is the frame j w.r.t to the base postion vector and the last column is the frame j w.r.t to the base translational velocity vector. Print an error on the console if j is out of range.

Definition at line 142 of file kinemat.cpp.

virtual void Robot_basic::kine_pd ( Matrix &  Rot,
ColumnVector &  pos,
ColumnVector &  pos_dot,
const int  ref 
) const [pure virtual]

Implemented in mRobot_min_para, mRobot, and Robot.

Robot_basic & Robot_basic::operator= ( const Robot_basic x)

Overload = operator.

Definition at line 889 of file robot.cpp.

virtual void Robot_basic::robotType_inv_kin ( ) [pure virtual]

Implemented in mRobot_min_para, mRobot, and Robot.

void Robot_basic::set_q ( const ColumnVector &  q)

Set the joint position vector.

Set the joint position vector and recalculate the orientation matrix R and the position vector p (see Link class). Print an error if the size of q is incorrect.

Definition at line 1137 of file robot.cpp.

void Robot_basic::set_q ( const Matrix &  q)

Set the joint position vector.

Set the joint position vector and recalculate the orientation matrix R and the position vector p (see Link class). Print an error if the size of q is incorrect.

Definition at line 1070 of file robot.cpp.

void Robot_basic::set_q ( const Real  q,
const int  i 
) [inline]

< Set joint i position.

Definition at line 255 of file robot.h.

void Robot_basic::set_qp ( const ColumnVector &  qp)

Set the joint velocity vector.

Definition at line 1176 of file robot.cpp.

void Robot_basic::set_qpp ( const ColumnVector &  qpp)

Set the joint acceleration vector.

Definition at line 1191 of file robot.cpp.

virtual ReturnMatrix Robot_basic::torque ( const ColumnVector &  q,
const ColumnVector &  qp,
const ColumnVector &  qpp 
) [pure virtual]

Implemented in mRobot_min_para, mRobot, and Robot.

virtual ReturnMatrix Robot_basic::torque ( const ColumnVector &  q,
const ColumnVector &  qp,
const ColumnVector &  qpp,
const ColumnVector &  Fext_,
const ColumnVector &  Next_ 
) [pure virtual]

Implemented in mRobot_min_para, mRobot, and Robot.

virtual ReturnMatrix Robot_basic::torque_novelocity ( const ColumnVector &  qpp) [pure virtual]

Implemented in mRobot_min_para, mRobot, and Robot.


Friends And Related Function Documentation

friend class mRobot [friend]

Definition at line 218 of file robot.h.

friend class mRobot_min_para [friend]

Definition at line 219 of file robot.h.

friend class mRobotgl [friend]

Definition at line 221 of file robot.h.

friend class Robot [friend]

Definition at line 217 of file robot.h.

friend class Robotgl [friend]

Definition at line 220 of file robot.h.


Member Data Documentation

ColumnVector * Robot_basic::a

Definition at line 313 of file robot.h.

ColumnVector * Robot_basic::da

Definition at line 313 of file robot.h.

ColumnVector * Robot_basic::df

Definition at line 313 of file robot.h.

ColumnVector * Robot_basic::dF

Definition at line 313 of file robot.h.

ColumnVector * Robot_basic::dn

Definition at line 313 of file robot.h.

ColumnVector * Robot_basic::dN

Definition at line 313 of file robot.h.

int Robot_basic::dof [private]

Degree of freedom.

Definition at line 332 of file robot.h.

ColumnVector * Robot_basic::dp

Definition at line 313 of file robot.h.

ColumnVector * Robot_basic::dvp

Definition at line 313 of file robot.h.

ColumnVector * Robot_basic::dw

Definition at line 313 of file robot.h.

ColumnVector * Robot_basic::dwp

Definition at line 313 of file robot.h.

ColumnVector * Robot_basic::f

Definition at line 313 of file robot.h.

ColumnVector * Robot_basic::F

Definition at line 313 of file robot.h.

ColumnVector * Robot_basic::f_nv

Definition at line 313 of file robot.h.

int Robot_basic::fix [private]

Virtual link, used with modified DH notation.

Definition at line 332 of file robot.h.

ColumnVector Robot_basic::gravity

Gravity vector.

Definition at line 313 of file robot.h.

Pointer on Link cclass.

Definition at line 318 of file robot.h.

ColumnVector * Robot_basic::n

Definition at line 313 of file robot.h.

ColumnVector * Robot_basic::N

Definition at line 313 of file robot.h.

ColumnVector * Robot_basic::n_nv

Definition at line 313 of file robot.h.

ColumnVector * Robot_basic::p

Definition at line 313 of file robot.h.

ColumnVector * Robot_basic::pp

Definition at line 313 of file robot.h.

Matrix* Robot_basic::R

Temprary rotation matrix.

Definition at line 317 of file robot.h.

Robot type.

Definition at line 331 of file robot.h.

ColumnVector * Robot_basic::vp

Definition at line 313 of file robot.h.

ColumnVector* Robot_basic::w

Definition at line 313 of file robot.h.

ColumnVector * Robot_basic::wp

Definition at line 313 of file robot.h.

ColumnVector Robot_basic::z0

Axis vector at each joint.

Definition at line 313 of file robot.h.


The documentation for this class was generated from the following files:


kni
Author(s): Martin Günther
autogenerated on Mon Aug 14 2017 02:44:13