CODeME
Dynamic_Mechanism.h File Reference

Function prototypes for the trajectory routines. More...

#include "Complex_Dynamic_Control.h"

Go to the source code of this file.

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