robot.cpp File Reference

#include <time.h>
#include "config.h"
#include "robot.h"

Include dependency graph for robot.cpp:

Go to the source code of this file.

Functions
void	perturb_robot (Robot_basic &robot, const double f)
	Modify a robot.
bool	Puma_DH (const Robot_basic &robot)
	Return true if the robot is like a Puma on DH notation.
bool	Puma_mDH (const Robot_basic &robot)
	Return true if the robot is like a Puma on modified DH notation.
bool	Rhino_DH (const Robot_basic &robot)
	Return true if the robot is like a Rhino on DH notation.
bool	Rhino_mDH (const Robot_basic &robot)
	Return true if the robot is like a Rhino on modified DH notation.
bool	Schilling_DH (const Robot_basic &robot)
	Return true if the robot is like a Schilling on DH notation.
bool	Schilling_mDH (const Robot_basic &robot)
	Return true if the robot is like a Schilling on modified DH notation.
Variables
Real	fourbyfourident [] = {1.0,0.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,0.0,1.0}
	Used to initialize a matrix.
static const char	rcsid [] = "$Id: robot.cpp,v 1.50 2006/05/16 19:24:26 gourdeau Exp $"
	RCS/CVS version.
Real	threebythreeident [] = {1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0}
	Used to initialize a matrix.

---

Function Documentation

void perturb_robot	(	Robot_basic &	robot,
		const double	f
	)

Modify a robot.

Parameters:

robot,:	Robot_basic reference.
f,:	Percentage of erreur between 0 and 1.

f represents an error to added on the robot inertial parameter. f is between 0 (no error) and 1 (100% error).

Definition at line 1446 of file robot.cpp.

bool Puma_DH

(

const Robot_basic &

robot

)

Return true if the robot is like a Puma on DH notation.

Compare the robot DH table with the Puma DH table. The function return true if the tables are similar (same alpha and similar a and d parameters).

Definition at line 1516 of file robot.cpp.

bool Puma_mDH

(

const Robot_basic &

robot

)

Return true if the robot is like a Puma on modified DH notation.

Compare the robot DH table with the Puma DH table. The function return true if the tables are similar (same alpha and similar a and d parameters).

Definition at line 1615 of file robot.cpp.

bool Rhino_DH

(

const Robot_basic &

robot

)

Return true if the robot is like a Rhino on DH notation.

Compare the robot DH table with the Puma DH table. The function return true if the tables are similar (same alpha and similar a and d parameters).

Definition at line 1483 of file robot.cpp.

bool Rhino_mDH

(

const Robot_basic &

robot

)

Return true if the robot is like a Rhino on modified DH notation.

Compare the robot DH table with the Puma DH table. The function return true if the tables are similar (same alpha and similar a and d parameters).

Definition at line 1583 of file robot.cpp.

bool Schilling_DH

(

const Robot_basic &

robot

)

Return true if the robot is like a Schilling on DH notation.

Compare the robot DH table with the Schilling DH table. The function return true if the tables are similar (same alpha and similar a and d parameters).

Definition at line 1549 of file robot.cpp.

bool Schilling_mDH

(

const Robot_basic &

robot

)

Return true if the robot is like a Schilling on modified DH notation.

Compare the robot DH table with the Schilling DH table. The function return true if the tables are similar (same alpha and similar a and d parameters).

Definition at line 1649 of file robot.cpp.

---

Variable Documentation

Real fourbyfourident[] = {1.0,0.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,0.0,1.0}

Used to initialize a matrix.

Definition at line 133 of file robot.cpp.

const char rcsid[] = "$Id: robot.cpp,v 1.50 2006/05/16 19:24:26 gourdeau Exp $" [static]

RCS/CVS version.

Definition at line 121 of file robot.cpp.

Real threebythreeident[] = {1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0}

Used to initialize a matrix.

Definition at line 136 of file robot.cpp.