ROBOOP - A robotics object oriented package in C++

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FAQ - Frequently Asked Questions

March 12, 2007

This page contains answers to common questions, along with some tips and tricks that we have found useful and presented here as questions.

Contents

• Is the package using float or double ?
• Compiling error under Visual C++ 6.0
• Error with roboop.sln file under Visual C++ .NET
• What is the performance of the package with respect to the time required to evaluate the kinematics, dynamics, etc ?

Is the package using float or double ?

The package can use the Real type that can be either float or double for numerical computations. The file include.h in the directory newmat contains the following lines:

#define USING_DOUBLE // elements of type double
//#define USING_FLOAT // elements of type float

that are used to select the floating point type used.

Compiling error under Visual C++ 6.0

When compiling the files under Visual C++ 6.0, it results in the following error:

c:\roboop\newmat\newmat.h(1404) : fatal error C1001: INTERNAL COMPILER ERROR
        (compiler file 'msc1.cpp', line 1786)
         Please choose the Technical Support command on the Visual C++ etc ...

You have to apply the latest service pack to Visual C++ 6.0.

Error with roboop.sln file under Visual C++ .NET

If you get an error when opening the roboop.sln file, open the roboop.dsw instead.

What is the performance of the package with respect to the time required to evaluate the kinematics, dynamics, etc ?

The program bench.cpp can be used to benchmark some of the functionalities of the package for a 6 dof PUMA robot model (see the following table).

Computing times (in milliseconds)
Computer	Pentium II 600MHz				Pentium II 400MHz
Compiler/Function	cygwin gcc 3.3.1	Borland C++ 5.5.1	OpenWatcom C++ 1.2	Visual C++ .NET	Linux gcc 3.3.2
Forward Kinematics	0.39	0.08	0.07	0.04	0.08
Inverse Kinematics	10.74	2.21	1.90	1.39	2.31
Jacobian	0.67	0.12	0.10	0.08	0.13
Torque	3.88	0.60	0.58	0.42	0.56
Acceleration	18.16	2.85	2.68	1.96	2.76

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FAQ - Frequently Asked Questions

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