demo_2dof_pd.cpp

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/*
ROBOOP -- A robotics object oriented package in C++
Copyright (C) 2002-2004  Etienne Lachance

This library is free software; you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as
published by the Free Software Foundation; either version 2.1 of the
License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA


Report problems and direct all questions to:

email: etienne.lachance@polymtl.ca or richard.gourdeau@polymtl.ca

-------------------------------------------------------------------------------
Revision_history:

2004/07/01: Etienne Lachance
    -Added support for newmat's use_namespace #define, using ROBOOP namespace
*/

static const char rcsid[] = "$Id: demo_2dof_pd.cpp,v 1.2 2006/05/16 16:27:43 gourdeau Exp $";

#include "gnugraph.h"
#include "controller.h"
#include "control_select.h"
#include "dynamics_sim.h"
#include "robot.h"
#include "trajectory.h"

#ifdef use_namespace
using namespace ROBOOP;
#endif

class New_dynamics: public Dynamics
{
public:
  New_dynamics(Robot_basic *robot_);
  virtual void plot();

  Robot_basic *robot;    
  bool first_pass_plot;  
  RowVector tout;        
  Matrix xout;           
  int i;                 
};

New_dynamics::New_dynamics(Robot_basic *robot_): Dynamics(robot_)
{
  robot = robot_;
  first_pass_plot = true;
  i = 1;
}

void New_dynamics::plot()
{
  if(first_pass_plot)
    {
      xout = Matrix(x.Nrows(),(int)(nsteps*(tf_cont-to)+1)*x.Ncols());
      xout.SubMatrix(1,x.Nrows(),1,x.Ncols()) = x;
      tout = RowVector((int)(nsteps*(tf_cont-to)+1));
      tout(1) = to;
      i = 0;
      first_pass_plot = false;
    }

  if(robot)
    {
      tout(i+1) = time;
      xout.SubMatrix(1,x.Nrows(),i*x.Ncols()+1,(i+1)*x.Ncols()) = x;
      i++;
    }
}


int main()
{
  
  Robot robot("conf/rr_dh.conf", "rr_dh");

  Trajectory_Select path("conf/q_2dof.dat");
  Control_Select control("conf/pd_2dof.conf");

  New_dynamics dynamics(&robot);

  dynamics.set_controller(control);
  dynamics.set_trajectory(path);
  dynamics.set_time_frame(500);

  dynamics.Runge_Kutta4();

  set_plot2d("Robot joints position", "time (sec)", "q(i) (rad)", "q", DATAPOINTS,
             dynamics.tout, dynamics.xout, 1, 2);
 
   return(0);
}