CODeME
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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) |
Function prototypes for the trajectory routines.
This contains the prototypes for the trajectory routine and eventually any macros,constants, or global variables needed.
double** Serial_Set_Inertia_Matrix | ( | int | DoF, |
double * | DH_Parameters, | ||
double * | Theta, | ||
double *** | Inertia, | ||
double * | Mass | ||
) |
Compute Matrix A
Compute Matrix C