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108 lines
3.6 KiB
108 lines
3.6 KiB
/**
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* \file frne.h
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* \author Peter Corke
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* \brief Definitions for MEX file
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*
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*/
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/*
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* Copyright (C) 1999-2008, by Peter I. Corke
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*
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* This file is part of The Robotics Toolbox for Matlab (RTB).
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*
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* RTB is free software: you can redistribute it and/or modify
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* it under the terms of the GNU Lesser General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* RTB is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Leser General Public License
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* along with RTB. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#ifndef _rne_h_
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#define _rne_h_
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#include <math.h>
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#include "vmath.h"
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#define TRUE 1
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#define FALSE 0
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/*
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* Accessing information within a MATLAB structure is inconvenient and slow.
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* To get around this we build our own robot and link data structures, and
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* copy the information from the MATLAB objects once per call. If the call
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* is for multiple states values then our efficiency becomes very high.
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*/
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/* Robot kinematic convention */
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typedef
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enum _dhtype {
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STANDARD,
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MODIFIED
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} DHType;
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/* Link joint type */
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typedef
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enum _axistype {
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REVOLUTE = 0,
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PRISMATIC = 1
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} Sigma;
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/* A robot link structure */
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typedef struct _link {
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/**********************************************************
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*************** kinematic parameters *********************
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**********************************************************/
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double alpha; /* link twist */
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double A; /* link offset */
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double D; /* link length */
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double theta; /* link rotation angle */
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double offset; /* link coordinate offset */
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int sigma; /* axis type; revolute or prismatic */
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/**********************************************************
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***************** dynamic parameters *********************
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**********************************************************/
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/**************** of links ********************************/
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Vect *rbar; /* centre of mass of link wrt link origin */
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double m; /* mass of link */
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double *I; /* inertia tensor of link wrt link origin */
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/**************** of actuators *****************************/
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/* these parameters are motor referenced */
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double Jm; /* actuator inertia */
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double G; /* gear ratio */
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double B; /* actuator friction damping coefficient */
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double *Tc; /* actuator Coulomb friction coeffient */
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/**********************************************************
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**************** intermediate variables ******************
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**********************************************************/
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Vect r; /* distance of ith origin from i-1th wrt ith */
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Rot R; /* link rotation matrix */
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Vect omega; /* angular velocity */
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Vect omega_d; /* angular acceleration */
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Vect acc; /* acceleration */
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Vect abar; /* acceleration of centre of mass */
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Vect f; /* inter-link force */
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Vect n; /* inter-link moment */
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} Link;
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/* A robot */
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typedef struct _robot {
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int njoints; /* number of joints */
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Vect *gravity; /* gravity vector */
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DHType dhtype; /* kinematic convention */
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Link *links; /* the links */
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} Robot;
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#endif
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