Complex_Dynamic_Control.h

#ifndef COMPLEX_DYNAMIC_CONTROL_H_INCLUDED
#define COMPLEX_DYNAMIC_CONTROL_H_INCLUDED

#include "Miscellaneous/Interpolation_Algorithm.h"
#include "Miscellaneous/Trayectory_Library.h"

typedef struct CONTROL_DATA
{
    int     DOF;
    int     Links;
    int     NTP;
    int     Articulations;
    double* Time;
    double* Initial_Position;
    double* Initial_Velocity;
    double* Initial_Acceleration;
    double* Trayectory_Parameters;
}CONTROL_DATA;

typedef struct ROBOT_DATA
{
    int     DOF;

    double    Density;    //Links Density
    double*   Mass;       //Mass Per Link
    double*   Radoius;    //Radious Per Link
    double*** Inertia;    //Inertia Tensor Per Link

    double** Torque;
    double** Position;
    double** Velocity;
    double** Acceleration;

    double* Gravity;
    double* Viscous_fric;
    double* Dynamic_fric;
}ROBOT_DATA;

void   Dyn_Control_Function_Parameters_Set        (CONTROL_DATA* Data , double** Parameters);
void   Dyn_Control_Function_Parameters_From_File  (CONTROL_DATA* Data , char* Filename);
void   Dyn_Control_Function_Parameters_Free       (CONTROL_DATA* Data);

double Computed_Torque_Control (CONTROL_DATA Data, ROBOT_DATA Robot, double* Opt_Parameter, FILE** pipeOut);

double Computed_Torque_Control_Interpolation (CONTROL_DATA Data, ROBOT_DATA Robot, DATA_INTER Inter, double* Opt_Parameter, FILE** pipeOut);

double* Joints_Positions_Torque_Error   (CONTROL_DATA Data, ROBOT_DATA Robot, DATA_INTER Inter, double* Opt_Parameter, FILE** pipeOut);
double* Joints_Positions_Torque_Error_2 (CONTROL_DATA Data, ROBOT_DATA Robot, CUBIC_DATA Inter, double* Opt_Parameter, FILE** pipeOut);
double* Joints_Positions_Torque_Error_3 (CONTROL_DATA Data, ROBOT_DATA Robot, CUBIC_DATA Inter, double* Opt_Parameter, FILE** pipeOut);
double* Joints_Positions_Torque_Error_4 (CONTROL_DATA Data, ROBOT_DATA Robot, CUBIC_DATA Inter, double* Opt_Parameter, FILE** pipeOut);

#endif // COMPLEX_DYNAMIC_CONTROL_H_INCLUDED