Function prototypes for the trajectory routines. More...

Functions
double **	Transformation_Matrix (double *DH_Parameter)

double **	Serial_Direct_Kinematic (int DOF, double DH_Parameters, double Positions)

void	Print_Manipulator_R (int DOF, double *Position, double lim, double Pause_Time)

void	Serial_Inverse_Kinematic (int DOF, double DH_Parameters, double Position, double *Theta)

double **	Anthro_Generate_DH_Table (double DH_Parameters, double Theta)

double *	Anthro_Direct_Kinematic (double DH_Parameters, double Theta)

void	Anthro_Inverse_Kinematic (double DH_Parameters, double Position, double *Theta)

double **	Anthro_Compute_Jacobian (double DH_Parameters, double Thetas)

void	Anthro_Snapshot_Architucture (double DH_Parameters, double Position, double Articulation, char Name_picture)

void	Anthro_Architucture_Plotter (double DH_Parameters, double Position, double Articulation, double alpha, FILE pipeOut)

double **	Articulated_Generate_DH_Table (double DH_Parameters, double Theta)

double *	Articulated_Direct_Kinematic (double DH_Parameters, double Theta)

void	Articulated_Inverse_Kinematic (double DH_Parameters, double Position, double *Theta)

double **	Articulated_Compute_Jacobian (double DH_Parameters, double Thetas)

void	Articulated_Snapshot_Architucture (double DH_Parameters, double Position, double Articulation, char Name_picture)

void	Articulated_Architucture_Plotter (double DH_Parameters, double Position, double Articulation, double alpha, FILE pipeOut)

double **	Elbow_Generate_DH_Table (double DH_Parameters, double Theta)

double *	Elbow_Direct_Kinematic (double DH_Parameters, double Theta)

void	Elbow_Inverse_Kinematic (double DH_Parameters, double Position, double *Theta)

double **	Elbow_Compute_Jacobian (double DH_Parameters, double Thetas)

void	Elbow_Snapshot_Architucture (double DH_Parameters, double Position, double Articulation, char Name_picture)

void	Elbow_Architucture_Plotter (double DH_Parameters, double Position, double Articulation, double alpha, FILE pipeOut)

double **	Two_Link_Generate_DH_Table (double DH_Parameters, double Theta)

double *	Two_Link_Direct_Kinematic (double DH_Parameters, double Theta)

void	Two_Link_Inverse_Kinematic (double DH_Parameters, double Position, double *Theta)

double **	Two_Link_Compute_Jacobian (double DH_Parameters, double Theta)

void	Two_Link_Snapshot_Architucture (double DH_Parameters, double Position, double Articulation, char Name_picture)

void	Two_Link_Architucture_Plotter (double DH_Parameters, double Position, double Articulation, double alpha, FILE pipeOut)

double **	Two_LinkMass_Generate_DH_Table (double DH_Parameters, double Theta)

double *	Two_LinkMass_Direct_Kinematic (double DH_Parameters, double Theta)

void	Two_LinkMass_Inverse_Kinematic (double DH_Parameters, double Position, double *Theta)

double **	Two_LinkMass_Compute_Jacobian (double DH_Parameters, double Theta)

void	Two_LinkMass_Snapshot_Architucture (double DH_Parameters, double Position, double Articulation, char Name_picture)

void	Two_LinkMass_Architucture_Plotter (double DH_Parameters, double Position, double Articulation, double alpha, FILE pipeOut)

double **	Elbow_3DOF_Generate_DH_Table (double DH_Parameters, double Theta)

double *	Elbow_3DOF_Direct_Kinematic (double DH_Parameters, double Theta)

void	Elbow_3DOF_Inverse_Kinematic (double DH_Parameters, double Position, double *Theta)

double **	Elbow_3DOF_Compute_Jacobian (double DH_Parameters, double Theta)

void	Elbow_3DOF_Snapshot_Architucture (double DH_Parameters, double Position, double Articulation, char Name_picture)

void	Elbow_3DOF_Architucture_Plotter (double DH_Parameters, double Position, double Articulation, double alpha, FILE pipeOut)

void	Delta_Inverse_Kinematic (double Delta_Parameters, double Position, double *Theta)

double **	Delta_Compute_Jacobian (double Delta_Parameters, double Theta)

void	Delta_Snapshot_Architucture (double Delta_Parameters, double Position, double Articulation, char Name_picture)

void	Delta_Architucture_Plotter (double Delta_Parameters, double Position, double Articulation, double alpha, FILE pipeOut)

Variables
double *(	Generate_DH_Table )(double DH_Parameters, double Theta)

double (	Direct_Kinematic_Function )(double Opt_Parameters, double Parameter)

void(*	Inverse_Kinematic_Function )(double Parameters, double Position, double *Theta)

double *(	Jacobian_Function )(double Opt_Parameters, double Parameter)

void(*	Snapshot_Function )(double Parameters, double Position, double Articulation, char Name_picture)

void(*	Plotter_Function )(double Parameters, double Position, double Articulation, double alpha, FILE pipeOut)

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.

Variables
double *(	Generate_DH_Table )(double DH_Parameters, double Theta)

double (	Direct_Kinematic_Function )(double Opt_Parameters, double Parameter)

void(*	Inverse_Kinematic_Function )(double Parameters, double Position, double *Theta)

double *(	Jacobian_Function )(double Opt_Parameters, double Parameter)

void(*	Snapshot_Function )(double Parameters, double Position, double Articulation, char Name_picture)

void(*	Plotter_Function )(double Parameters, double Position, double Articulation, double alpha, FILE pipeOut)

Functions

Variables

Detailed Description