Initialisation of differents robot class. More...
Go to the source code of this file.
Functions | |
| void | perturb_robot (Robot_basic &robot, const double f) |
| Modify a robot. More... | |
| bool | Rhino_DH (const Robot_basic &robot) |
| Return true if the robot is like a Rhino on DH notation. More... | |
| bool | Puma_DH (const Robot_basic &robot) |
| Return true if the robot is like a Puma on DH notation. More... | |
| bool | Schilling_DH (const Robot_basic &robot) |
| Return true if the robot is like a Schilling on DH notation. More... | |
| bool | Rhino_mDH (const Robot_basic &robot) |
| Return true if the robot is like a Rhino on modified DH notation. More... | |
| bool | Puma_mDH (const Robot_basic &robot) |
| Return true if the robot is like a Puma on modified DH notation. More... | |
| bool | Schilling_mDH (const Robot_basic &robot) |
| Return true if the robot is like a Schilling on modified DH notation. More... | |
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. | |
| 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. | |
Detailed Description
Initialisation of differents robot class.
Definition in file robot.cpp.
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 1442 of file robot.cpp.
References Link::get_B(), Link::get_Cf(), Robot_basic::get_dof(), Robot_basic::get_fix(), Link::get_I(), Link::get_Im(), Link::get_m(), Robot_basic::links, Link::set_B(), Link::set_Cf(), Link::set_I(), Link::set_Im(), and Link::set_m().
| 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 1512 of file robot.cpp.
References Link::get_a(), Link::get_alpha(), Link::get_d(), Robot_basic::get_dof(), Link::get_joint_type(), and Robot_basic::links.
Referenced by Robot::robotType_inv_kin().
| 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 1611 of file robot.cpp.
References Link::get_a(), Link::get_alpha(), Link::get_d(), Robot_basic::get_dof(), Link::get_joint_type(), and Robot_basic::links.
Referenced by mRobot::robotType_inv_kin(), and mRobot_min_para::robotType_inv_kin().
| 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 1479 of file robot.cpp.
References Link::get_a(), Link::get_alpha(), Link::get_d(), Robot_basic::get_dof(), Link::get_joint_type(), and Robot_basic::links.
Referenced by Robot::robotType_inv_kin().
| 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 1579 of file robot.cpp.
References Link::get_a(), Link::get_alpha(), Link::get_d(), Robot_basic::get_dof(), Link::get_joint_type(), and Robot_basic::links.
Referenced by mRobot::robotType_inv_kin(), and mRobot_min_para::robotType_inv_kin().
| 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 1545 of file robot.cpp.
References Link::get_a(), Link::get_alpha(), Link::get_d(), Robot_basic::get_dof(), Link::get_joint_type(), and Robot_basic::links.
Referenced by Robot::robotType_inv_kin().
| 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 1645 of file robot.cpp.
References Link::get_a(), Link::get_alpha(), Link::get_d(), Robot_basic::get_dof(), Link::get_joint_type(), and Robot_basic::links.
Referenced by mRobot::robotType_inv_kin(), and mRobot_min_para::robotType_inv_kin().
