puma560.cpp
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1 // Copyright (C) 2009 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2 
3 // Version: 1.0
4 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
5 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
6 // URL: http://www.orocos.org/kdl
7 
8 // This library is free software; you can redistribute it and/or
9 // modify it under the terms of the GNU Lesser General Public
10 // License as published by the Free Software Foundation; either
11 // version 2.1 of the License, or (at your option) any later version.
12 
13 // This library is distributed in the hope that it will be useful,
14 // but WITHOUT ANY WARRANTY; without even the implied warranty of
15 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 // Lesser General Public License for more details.
17 
18 // You should have received a copy of the GNU Lesser General Public
19 // License along with this library; if not, write to the Free Software
20 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
21 
22 #include <chain.hpp>
23 #include "models.hpp"
24 
25 namespace KDL{
27  Chain puma560;
28  puma560.addSegment(Segment());
30  Frame::DH(0.0,M_PI_2,0.0,0.0),
31  RigidBodyInertia(0,Vector::Zero(),RotationalInertia(0,0.35,0,0,0,0))));
33  Frame::DH(0.4318,0.0,0.0,0.0),
34  RigidBodyInertia(17.4,Vector(-.3638,.006,.2275),RotationalInertia(0.13,0.524,0.539,0,0,0))));
35  puma560.addSegment(Segment());
37  Frame::DH(0.0203,-M_PI_2,0.15005,0.0),
38  RigidBodyInertia(4.8,Vector(-.0203,-.0141,.070),RotationalInertia(0.066,0.086,0.0125,0,0,0))));
40  Frame::DH(0.0,M_PI_2,0.4318,0.0),
41  RigidBodyInertia(0.82,Vector(0,.019,0),RotationalInertia(1.8e-3,1.3e-3,1.8e-3,0,0,0))));
42  puma560.addSegment(Segment());
43  puma560.addSegment(Segment());
45  Frame::DH(0.0,-M_PI_2,0.0,0.0),
46  RigidBodyInertia(0.34,Vector::Zero(),RotationalInertia(.3e-3,.4e-3,.3e-3,0,0,0))));
48  Frame::DH(0.0,0.0,0.0,0.0),
49  RigidBodyInertia(0.09,Vector(0,0,.032),RotationalInertia(.15e-3,0.15e-3,.04e-3,0,0,0))));
50  puma560.addSegment(Segment());
51  return puma560;
52  }
53 
54 }
Chain Puma560()
Definition: puma560.cpp:26
This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and a rigid body...
Definition: segment.hpp:46
This class encapsulates a serial kinematic interconnection structure. It is built out of segments...
Definition: chain.hpp:35
void addSegment(const Segment &segment)
Definition: chain.cpp:54
6D Inertia of a rigid body
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:160
static Frame DH(double a, double alpha, double d, double theta)
Definition: frames.cpp:71
This class encapsulates a simple joint, that is with one parameterized degree of freedom and with sca...
Definition: joint.hpp:45
static Vector Zero()
Definition: frames.hpp:139


orocos_kdl
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autogenerated on Wed Jul 1 2020 03:17:39