Prints the time, on the console, to perform certain operations.
Definition in file bench.cpp.
#include <time.h>
#include "robot.h"
#include "stewart.h"
Go to the source code of this file.
Defines | |
| #define | NTRY 2000 |
Functions | |
| int | stewartmain (void) |
| int | main (void) |
Variables | |
| static const char | rcsid [] = "$Id: bench.cpp,v 1.20 2005/07/01 16:16:35 gourdeau Exp $" |
| RCS/CVS version. | |
| Real | Stewart_Ini [] |
| Real | Stewart_q [] |
| Real | Stewart_qg [] |
| Real | Stewart_l [] |
| Real | Stewart_dq [] |
| Real | Stewart_ddq [] |
| Real | Stewart_tddq [] |
| Real | Comm [] |
| Real | Tau [] |
| const Real | PUMA560_data [] |
| Real Comm[] |
Initial value:
{1, 0, 0, -10, 0, 0}
Definition at line 96 of file bench.cpp.
Referenced by stewartmain().
| const Real PUMA560_data[] |
Initial value:
{0, 0, 0, 0, M_PI/2.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.35, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0.4318, 0, 0, 0, 0, 17.4, -0.3638, 0.006, 0.2275, 0.13, 0, 0, 0.524, 0, 0.539, 0, 0, 0, 0, 0,
0, 0, 0.15005, 0.0203, -M_PI/2.0, 0, 0, 0, 4.8, -0.0203, -0.0141, 0.07, 0.066, 0, 0, 0.086, 0, 0.0125, 0, 0, 0, 0, 0,
0, 0, 0.4318, 0.0, M_PI/2.0, 0, 0, 0, 0.82, 0, 0.019, 0, 0.0018, 0, 0, 0.0013, 0, 0.0018, 0, 0, 0, 0, 0,
0, 0, 0, 0.0, -M_PI/2.0, 0, 0, 0, 0.34, 0.0, 0.0, 0.0, 0.0003, 0.0, 0.0, 0.0004, 0.0, 0.0003, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.09, 0.0, 0.0, 0.032, 0.00015, 0.0, 0.0, 0.00015, 0.0, 0.00004, 0, 0, 0, 0, 0}
Definition at line 175 of file bench.cpp.
Referenced by dynamics_demo(), and main().
| Real Stewart_ddq[] |
Initial value:
{-10.0, -10.0, -10, -10.0, -10, -10}
Definition at line 92 of file bench.cpp.
Referenced by stewartmain().
| Real Stewart_dq[] |
Initial value:
{0.2, 0.3, -0.4, 0.1, -1.4, 0.1}
Definition at line 90 of file bench.cpp.
Referenced by stewartmain().
| Real Stewart_Ini[] |
Initial value:
{1.758, 2.8, -1.015, 0.225, 0.0, -0.228, 3.358, 0.05, 4.237, 0.1406, 10, 12.5, 0.5, 0.35, 0.0, 0.0, 0.0,
1.6021, 3.07, -0.925, 0.1125, 0.1949, -0.228, 3.358, 0.05, 4.237, 0.1406, 10, 12.5, 0.5, 0.35, 0.0, 0.0, 0.0,
-1.7580, 2.8, -1.015, -0.1125, 0.1949, -0.228, 3.358, 0.05, 4.237, 0.1406, 10, 12.5, 0.5, 0.35, 0.0, 0.0, 0.0,
-1.6021, 3.07, -0.925, -0.225, 0.0, -0.228, 3.358, 0.05, 4.237, 0.1406, 10, 12.5, 0.5, 0.35, 0.0, 0.0, 0.0,
0.0, 2.8, 2.03, -0.1125, -0.1949, -0.228, 3.358, 0.05, 4.237, 0.1406, 10, 12.5, 0.5, 0.35, 0.0, 0.0, 0.0,
0.0, 3.07, 1.85, 0.1125, -0.1949, -0.228, 3.358, 0.05, 4.237, 0.1406, 10, 12.5, 0.5, 0.35, 0.0, 0.0, 0.0,
0.0, 0.0, -0.114, 1.001, 0.59, 0.843, 10, 0.12, 0.04, 0.5, 0.5, 0.5, 1.5, 0.5, 0.005, 5.44, 0.443}
Definition at line 75 of file bench.cpp.
Referenced by stewartmain().
| Real Stewart_l[] |
Initial value:
{3.0508, 3.2324, 3.2997, 3.4560, 3.5797, 3.6935}
Definition at line 88 of file bench.cpp.
Referenced by stewartmain().
| Real Stewart_q[] |
Initial value:
{0.2, 0.3, -0.4, 0.1, -1.4, 0.1}
Definition at line 84 of file bench.cpp.
Referenced by stewartmain().
| Real Stewart_qg[] |
Initial value:
{0.25, 0.25, -0.45, 0.07, -1.7, 0.07}
Definition at line 86 of file bench.cpp.
Referenced by stewartmain().
| Real Stewart_tddq[] |
Initial value:
{0, 0, 0, 0, 0, 0}
Definition at line 94 of file bench.cpp.
Referenced by stewartmain().
| Real Tau[] |
Initial value:
{126.219689, 789.968672, 0.708602, 79.122963, 81.806978, -31.61797}
Definition at line 98 of file bench.cpp.
Referenced by stewartmain().
1.5.1