Function prototypes for the trajectory routines. More...

#include "Complex_Dynamic_Control.h"

Functions
double **	Serial_midLink_Mass_Position (int DoF, double DH_Parameters, double Theta)

double ***	Serial_Linear_Cylindrical_Inertia_Tensor (int DoF, double DH_Parameters, double Mass, double *Radious)

double **	Serial_Compute_Jacobian_Position (int DoF, double DH_Parameters, double Theta)

double **	Serial_Compute_Jacobian_Orientation (int DoF, double DH_Parameters, double Theta)

double **	Serial_Set_Inertia_Matrix (int DoF, double DH_Parameters, double Theta, double **Inertia, double Mass)

double ***	Serial_Get_Inertia_Derivative (int DoF, double DH_Parameters, double Theta, double **Inertia, double Mass)

double **	Serial_Set_Coriolis_Matrix (int DoF, double DH_Parameters, double Theta, double **Inertia, double Mass, double *Velocitys)

double *	Serial_Set_Gravitational_Vector (int DoF, double DH_Parameters, double Theta, double Mass, double Gravity)

void	Serial_Direct_Dynamic (int DoF, double DH_Parameters, double q, double Torque, double **Inertia, double Mass, double *Gravity)

void	Serial_Inverse_Dynamic (int DoF, double DH_Parameters, double q, double Torque, double **Inertia, double Mass, double *Gravity, double dt)

int	Elbow_Set_Functions ()

double **	Elbow_Set_Inertia_Matrix (double DH_Parameters, double *q, ROBOT_DATA Robot)

double **	Elbow_Set_Coriolis_Matrix (double DH_Parameters, double *q, ROBOT_DATA Robot)

double *	Elbow_Set_Gravitational_Vector (double DH_Parameters, double *q, ROBOT_DATA Robot)

void	Elbow_Direct_Dynamic (double DH_Parameters, double q, double Torque, ROBOT_DATA Robot)

void	Elbow_Inverse_Dynamic (double DH_Parameters, double q, double Torque, ROBOT_DATA Robot, double dt)

int	Two_Link_Set_Functions ()

double **	Two_Link_Set_Inertia_Matrix (double DH_Parameters, double *q, ROBOT_DATA Robot)

double **	Two_Link_Set_Coriolis_Matrix (double DH_Parameters, double *q, ROBOT_DATA Robot)

double *	Two_Link_Set_Gravitational_Vector (double DH_Parameters, double *q, ROBOT_DATA Robot)

void	Two_Link_Direct_Dynamic (double DH_Parameters, double q, double Torque, ROBOT_DATA Robot)

void	Two_Link_Inverse_Dynamic (double DH_Parameters, double q, double Torque, ROBOT_DATA Robot, double dt)

int	Two_LinkMass_Set_Functions ()

double **	Two_LinkMass_Set_Inertia_Matrix (double DH_Parameters, double *q, ROBOT_DATA Robot)

double **	Two_LinkMass_Set_Coriolis_Matrix (double DH_Parameters, double *q, ROBOT_DATA Robot)

double *	Two_LinkMass_Set_Gravitational_Vector (double DH_Parameters, double *q, ROBOT_DATA Robot)

void	Two_LinkMass_Direct_Dynamic (double DH_Parameters, double q, double Torque, ROBOT_DATA Robot)

void	Two_LinkMass_Inverse_Dynamic (double DH_Parameters, double q, double Torque, ROBOT_DATA Robot, double dt)

int	Elbow_3DOF_Set_Functions ()

double **	Elbow_3DOF_Set_Inertia_Matrix (double DH_Parameters, double *q, ROBOT_DATA Robot)

double **	Elbow_3DOF_Set_Coriolis_Matrix (double DH_Parameters, double *q, ROBOT_DATA Robot)

double *	Elbow_3DOF_Set_Gravitational_Vector (double DH_Parameters, double *q, ROBOT_DATA Robot)

void	Elbow_3DOF_Direct_Dynamic (double DH_Parameters, double q, double Torque, ROBOT_DATA Robot)

void	Elbow_3DOF_Inverse_Dynamic (double DH_Parameters, double q, double Torque, ROBOT_DATA Robot, double dt)

int	Articulated_Set_Functions ()

double **	Articulated_Set_Inertia_Matrix (double DH_Parameters, double *q, ROBOT_DATA Robot)

double **	Articulated_Set_Coriolis_Matrix (double DH_Parameters, double *q, ROBOT_DATA Robot)

double *	Articulated_Set_Gravitational_Vector (double DH_Parameters, double *q, ROBOT_DATA Robot)

void	Articulated_Direct_Dynamic (double DH_Parameters, double q, double Torque, ROBOT_DATA Robot)

void	Articulated_Inverse_Dynamic (double DH_Parameters, double q, double Torque, ROBOT_DATA Robot, double dt)

int	Anthro_Set_Functions ()

double **	Anthro_Set_Inertia_Matrix (double DH_Parameters, double *q, ROBOT_DATA Robot)

double **	Anthro_Set_Coriolis_Matrix (double DH_Parameters, double *q, ROBOT_DATA Robot)

double *	Anthro_Set_Gravitational_Vector (double DH_Parameters, double *q, ROBOT_DATA Robot)

void	Anthro_Direct_Dynamic (double DH_Parameters, double q, double Torque, ROBOT_DATA Robot)

void	Anthro_Inverse_Dynamic (double DH_Parameters, double q, double Torque, ROBOT_DATA Robot, double dt)

Variables
double *(	Serial_Get_Mass_Center_Position )(int DoF, double DH_Parameters, double Theta)

double *(	Inertia_Matrix )(double DH_Parameters, double *q, ROBOT_DATA Robot)

double *(	Coriolis_Matrix )(double DH_Parameters, double *q, ROBOT_DATA Robot)

double (	Gravitational_Vector )(double DH_Parameters, double *q, ROBOT_DATA Robot)

void(*	Direct_Dynamic_Function )(double DH_Parameters, double q, double Torque, ROBOT_DATA Robot)

void(*	Inverse_Dynamic_Function )(double DH_Parameters, double q, double Torque, ROBOT_DATA Robot, double dt)

Detailed Description

Function prototypes for the trajectory routines.

This contains the prototypes for the trajectory routine and eventually any macros,constants, or global variables needed.

Author: Salvador Botello-Aceves

Bug:: No known bugs.

Function Documentation

double** Serial_Set_Inertia_Matrix	(	int	DoF,
		double *	DH_Parameters,
		double *	Theta,
		double ***	Inertia,
		double *	Mass
	)

Compute Matrix A

Compute Matrix C

Variables
double *(	Serial_Get_Mass_Center_Position )(int DoF, double DH_Parameters, double Theta)

double *(	Inertia_Matrix )(double DH_Parameters, double *q, ROBOT_DATA Robot)

double *(	Coriolis_Matrix )(double DH_Parameters, double *q, ROBOT_DATA Robot)

double (	Gravitational_Vector )(double DH_Parameters, double *q, ROBOT_DATA Robot)

void(*	Direct_Dynamic_Function )(double DH_Parameters, double q, double Torque, ROBOT_DATA Robot)

void(*	Inverse_Dynamic_Function )(double DH_Parameters, double q, double Torque, ROBOT_DATA Robot, double dt)

Functions

Variables

Detailed Description

Function Documentation