Public Member Functions | Public Attributes | List of all members
New_dynamics Class Reference

This is an example of customize Dynamics class. More...

Inheritance diagram for New_dynamics:
Inheritance graph
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Public Member Functions

 New_dynamics (Robot_basic *robot_)
 Constructor. More...
 
virtual void plot ()
 Customize plot function. More...
 
- Public Member Functions inherited from Dynamics
 Dynamics (Robot_basic *robot_)
 Constructor. More...
 
void reset_time ()
 Set the simulation time to the inital time. More...
 
void Runge_Kutta4 ()
 Runge Kutta solver. More...
 
void Runge_Kutta4_Real_time ()
 Runge Kutta solver for real time. More...
 
short set_controller (const Control_Select &x)
 Set the control variable from the Control_Select reference. More...
 
void set_dof (Robot_basic *robot_)
 Set the degree of freedom. More...
 
void set_final_time (const double tf)
 Set the file time. More...
 
ReturnMatrix set_robot_on_first_point_of_splines ()
 Set the robot on first point of trajectory. More...
 
void set_time_frame (const int nsteps)
 Set the number of iterations. More...
 
short set_trajectory (const Trajectory_Select &x)
 Set the path_select variable from the Trajectory_Select reference. More...
 
ReturnMatrix xdot (const Matrix &xin)
 Obtain state derivative. More...
 
virtual ~Dynamics ()
 

Public Attributes

bool first_pass_plot
 
int i
 
Robot_basicrobot
 
RowVector tout
 
Matrix xout
 
- Public Attributes inherited from Dynamics
Control_Select control
 Instance of Control_Select class. More...
 
int dof_fix
 Degree of freedom + virtual link. More...
 
double dt
 Time frame. More...
 
bool first_pass_Kutta
 First time in all Runge_Kutta4 functions. More...
 
double h
 Runge Kutta temporary variable. More...
 
double h2
 Runge Kutta temporary variable. More...
 
Matrix k1
 Runge Kutta temporary variable. More...
 
Matrix k2
 Runge Kutta temporary variable. More...
 
Matrix k3
 Runge Kutta temporary variable. More...
 
Matrix k4
 Runge Kutta temporary variable. More...
 
int ndof
 Degree of freedom. More...
 
int nsteps
 Numbers of iterations between. More...
 
Trajectory_Select path_select
 Instance of Trajectory_Select class. More...
 
ColumnVector pd
 Desired end effector cartesian position. More...
 
ColumnVector ppd
 Desired end effector cartesian velocity. More...
 
ColumnVector pppd
 Desired end effector cartesian acceleration. More...
 
ColumnVector q
 Joints positions. More...
 
ColumnVector qd
 Desired joints positions. More...
 
ColumnVector qp
 Joints velocities. More...
 
ColumnVector qpd
 Desired joints velocities. More...
 
ColumnVector qpp
 Joints accelerations. More...
 
ColumnVector qppd
 Desired joints accelerations. More...
 
Quaternion quatd
 Desired orientation express by a quaternion. More...
 
Robot_basicrobot
 Pointer on Robot_basic class. More...
 
ColumnVector tau
 Controller output torque. More...
 
double tf
 Final time used in Runge_Kutta4_Real_time. More...
 
double tf_cont
 Final time used in Runge_Kutta4. More...
 
double time
 Time during simulation. More...
 
double to
 Initial simulation time. More...
 
ColumnVector wd
 Desired end effector cartesian angular velocity. More...
 
ColumnVector wpd
 Desired end effector cartesian angular acceleration. More...
 
Matrix x
 Stated vector obtain in Runge Kutta functions. More...
 
Matrix xd
 Statd vector derivative obtaint in xdot function. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from Dynamics
static DynamicsInstance ()
 A pointer to Dynamics instance. Pointer is 0 if there is no instance (logic done in Constructor). More...
 
- Static Public Attributes inherited from Dynamics
static Dynamicsinstance = 0
 Static pointer on Dynamics class. More...
 

Detailed Description

This is an example of customize Dynamics class.

This class enherite from Dynamics class. At every time frame the new virtual plot functions record the current time and the robot joints positions. The data can then be used to create a plot.

Definition at line 63 of file demo_2dof_pd.cpp.

Constructor & Destructor Documentation

New_dynamics::New_dynamics ( Robot_basic robot_)

Constructor.

Definition at line 80 of file demo_2dof_pd.cpp.

Member Function Documentation

void New_dynamics::plot ( )
virtual

Customize plot function.

Record the time (tout) and the joints positions (xout). This member function is call by the member function xdot.

Reimplemented from Dynamics.

Definition at line 94 of file demo_2dof_pd.cpp.

Member Data Documentation

bool New_dynamics::first_pass_plot

First time in plot function.

Definition at line 70 of file demo_2dof_pd.cpp.

int New_dynamics::i

Temporary index.

Definition at line 73 of file demo_2dof_pd.cpp.

Robot_basic* New_dynamics::robot

Robot_basic pointer.

Definition at line 69 of file demo_2dof_pd.cpp.

RowVector New_dynamics::tout

Output time vector.

Definition at line 71 of file demo_2dof_pd.cpp.

Matrix New_dynamics::xout

Output state vector.

Definition at line 72 of file demo_2dof_pd.cpp.


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


kni
Author(s): Martin Günther
autogenerated on Fri Jan 3 2020 04:01:17