Summary of functions

Table 2.2: Homogeneous transforms



Homogeneous Transforms


eulzxz	transform of Euler angles

ieulzxz	Euler angles of a transform

irotk	rotation around a unit vector of a transform

irpy	roll-pitch-yaw angles of a transform

rotd	transform of a rotation around a line segment

rotk	transform of a rotation around a unit vector

rpy	transform of roll-pitch-yaw angles

rotx	transform of a rotation around X axis

roty	transform of a rotation around Y axis

rotz	transform of a rotation around Z axis

trans	transform of a translation

Table 2.3: Quaternion class member functions



Quaternions


+, -, *, /, =	operators on quaternions

conjugate, i	conjugate (or inverse) of a quaternion

exp, Log, power	exponential, logarithm and power of a quaternion

dot_prod	dot product of a quaternion

dot, E	quaternion time derivative

unit	make a quaternion a unit quaternion

norm, norm_sqr	compute the norm and the square norm of a quaternion

s, v	returns the scalar and the vector of a quaternion

set_s, set_v	assign values to the scalar and vector part of a quaternion

R, T	returns the equivalent rotation matrix (3 × 3 or 4 × 4)

Table 2.4: Quaternion non member functions



Functions


Omega	returns angular velocity

Slerp	Spherical Linear Interpolation

Slerp_prime	Spherical Linear Interpolation derivative

Squad	Spherical Cubic Interpolation

Squad_prime	Spherical Cubic Interpolation derivative

Table 2.5: Spl_Quaternion class member function



Spl_Quaternion


quat	interpolate the spline at time t to sets the quaternion q.

quat_w	interpolate the spline at time t to sets the quaternion q and angular velocity ω.

Table 2.6: Spl_Cubic class member function



Spl_Cubic


interpolating	interpolate the spline at time t.

first_derivative	interpolate the spline first derivative at time t.

second_derivative	interpolate the spline second derivative at time t.

Table 2.7: Spl_path class member function



Spl_path


p	interpolate the spline at time t to sets the position.

p_pdot	interpolate the spline at time t to sets position and velocity.

p_pdot_pddot	interpolate the spline at time t to sets position, velocity and acceleration.

Table 2.8: CLIK class member function



CLIK


q_qdot	sets the desired joint position and joint velocity

Table 2.9: Computed_torque_method class member function



Computed_torque_method


torque_cmd	sets the output torque

set_Kd	sets the derivative error gain

set_Kp	sets the position error gain

Table 2.10: Resolve_acc class member function



Resolve_acc


torque_cmd	sets the output torque

set_Kvp	sets the translational velocity error gain

set_Kpp	sets the translational position error gain

set_Kvo	sets the rotational velocity error gain

set_Kpo	sets the rotational position error gain

Table 2.11: Impedance class member function



Impedance


control	sets the compliant trajectory

set_Mp	sets the translational impedance inertia matrix

set_Dp	sets the translational impedance damping matrix

set_Kp	sets the translational impedance stiffness matrix

set_Mo	sets the rotational impedance inertia matrix

set_Do	sets the rotational impedance damping matrix

set_Ko	sets the rotational impedance stiffness matrix

Table 2.12: IO_matrix_file class member functions



IO_matrix_file


write	create and write data to a file

read	read data from a file

read_all	read entire data file at once

Table 2.13: Plot2d class member functions



Plot2d


addcommand	add a gnuplot command the 2d graph

addcurve	add a curve to the 2d graph

dump	dump the content of the graph to stdout

gnuplot	plot the graph through a call to gnuplot

settitle	sets graph title

setxlabel	sets axis X label

setylabel	sets axis Y label

set_plot2d	“wrapper” function for Plot2d

Table 2.14: Plot_file class member functions



Plot_file


graph	create a graphics from a data file

Table 2.15: Config class member functions



Config


read_conf	read configuration file

select	assign the value of parameter from a section

add	specify the value of parameter for a section

Table 2.16: Robot (and mRobot) class member functions



Joint Variables


get_q	get the robot joint variables position

get_qp	get the robot joint variables velocity

get_qpp	get the robot joint variables acceleration

set_q	set the robot joint variables position

set_qp	set the robot joint variables velocity

set_qpp	set the robot joint variables acceleration


Robot Kinematics


inv_kin	inverse kinematics
inv_kin_rhino	Rhino inverse kinematics
inv_kin_puma	Puma inverse kinematics

jacobian	robot Jacobian
jacobian_dot	robot Jacobian derivative
jacobian_DLS_inv	robot Jacobian DLS inverse

kine, kine_pd	forward kinematics

dTdqi	partial derivative of forward kinematics


Robot Dynamics


acceleration	forward dynamics

inertia	robot inertia matrix

torque	inverse dynamics

torque_novelocity	inverse dynamics without velocity and gravity

G	gravity effects

C	Coriolis and centrifugal effects


Robot Linearized Dynamics


delta_torque	δτ = D(q)δ + S₁(q,)δ + S₂(q,,)δq

dq_torque	S₂(q,,)δq

dqp_torque	S₁(q,)δ

dtau_dq	= S₂(q,,)

dtau_dqp	= S₁(q,)

Table 2.17: Miscellaneous



Miscellaneous


odeint	adaptive step size Runge-Kutta integrator

Runge_Kutta4	fixed step size 4^th order Runge-Kutta integrator

Integ_Trap	trapezoidal integration

pinv	matrix pseudo inverse

vec_dot_prod	vector dot product

vec_x_prod	vector cross product

x_prod_matrix	cross product matrix

perturb_robot	perturb robot parameters