New_dynamics Class Reference

Inheritance diagram for New_dynamics:

List of all members.

---

Detailed Description

This is an example of customize Dynamics class.

This class enherite from Dynamics class. At every time frame the new virtual plot functions record the current time and the robot joints positions. The data can then be used to create a plot.

Definition at line 63 of file demo_2dof_pd.cpp.

Public Member Functions
	New_dynamics (Robot_basic *robot_)
	Constructor.
virtual void	plot ()
	Customize plot function.
Public Attributes
Robot_basic *	robot
bool	first_pass_plot
RowVector	tout
Matrix	xout
int	i

---

Member Function Documentation

void New_dynamics::plot

(

)

[virtual]

Customize plot function.

Record the time (tout) and the joints positions (xout). This member function is call by the member function xdot.

Reimplemented from Dynamics.

Definition at line 94 of file demo_2dof_pd.cpp.

References first_pass_plot, i, Dynamics::nsteps, robot, Dynamics::tf_cont, Dynamics::time, Dynamics::to, tout, Dynamics::x, and xout.

---

Member Data Documentation

Robot_basic* New_dynamics::robot

Robot_basic pointer.

Reimplemented from Dynamics.

Definition at line 69 of file demo_2dof_pd.cpp.

Referenced by New_dynamics(), and plot().

bool New_dynamics::first_pass_plot

First time in plot function.

Definition at line 70 of file demo_2dof_pd.cpp.

Referenced by New_dynamics(), and plot().

RowVector New_dynamics::tout

Output time vector.

Definition at line 71 of file demo_2dof_pd.cpp.

Referenced by main(), and plot().

Matrix New_dynamics::xout

Output state vector.

Definition at line 72 of file demo_2dof_pd.cpp.

Referenced by main(), and plot().

int New_dynamics::i

Temporary index.

Definition at line 73 of file demo_2dof_pd.cpp.

Referenced by New_dynamics(), and plot().

---