robot.cpp File Reference

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Detailed Description

Initialisation of differents robot class.

Definition in file robot.cpp.

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

Go to the source code of this file.

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

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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.

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, robot, 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 1516 of file robot.cpp.

References Link::get_a(), Link::get_alpha(), Link::get_d(), Robot_basic::get_dof(), Link::get_joint_type(), isZero(), Robot_basic::links, and robot.

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 1615 of file robot.cpp.

References Link::get_a(), Link::get_alpha(), Link::get_d(), Robot_basic::get_dof(), Link::get_joint_type(), isZero(), Robot_basic::links, and robot.

Referenced by mRobot_min_para::robotType_inv_kin(), and mRobot::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 1483 of file robot.cpp.

References Link::get_a(), Link::get_alpha(), Link::get_d(), Robot_basic::get_dof(), Link::get_joint_type(), isZero(), Robot_basic::links, and robot.

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 1583 of file robot.cpp.

References Link::get_a(), Link::get_alpha(), Link::get_d(), Robot_basic::get_dof(), Link::get_joint_type(), isZero(), Robot_basic::links, and robot.

Referenced by mRobot_min_para::robotType_inv_kin(), and mRobot::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 1549 of file robot.cpp.

References Link::get_a(), Link::get_alpha(), Link::get_d(), Robot_basic::get_dof(), Link::get_joint_type(), isZero(), Robot_basic::links, and robot.

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 1649 of file robot.cpp.

References Link::get_a(), Link::get_alpha(), Link::get_d(), Robot_basic::get_dof(), Link::get_joint_type(), isZero(), Robot_basic::links, and robot.

Referenced by mRobot_min_para::robotType_inv_kin(), and mRobot::robotType_inv_kin().

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