tutorials/tut04_inertia_coriolis.cpp File Reference

Author:

Roland Philippsen

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#include "tutsim.hpp"
#include <opspace/Task.hpp>
#include <jspace/test/sai_util.hpp>
#include <boost/shared_ptr.hpp>
#include <err.h>

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Namespaces
namespace	tut04
Classes
class	tut04::JTask
Functions
static std::string	model_filename (TUTROB_XML_PATH_STR)
static bool	servo_cb (size_t toggle_count, double wall_time_ms, double sim_time_ms, jspace::State &state, jspace::Vector &command)
static void	draw_cb (double x0, double y0, double scale)
int	main (int argc, char **argv)
Variables
static boost::shared_ptr < jspace::Model >	model
static boost::shared_ptr < tut04::JTask >	jtask

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Detailed Description

Author:

Roland Philippsen

Demonstration of inertial decoupling and Coriolis/centrifugal compensation. This tutorial uses a joint-space task which always uses gravity compensation, but the terms for inertial decoupling and Coriolis/centrifugal compensation can be switched on and off at runtime. When you start the demo, it tries to track a joint-space trajectory using a PD controller. When you hit Toggle, it switches on the inertia decoupling (desired torques get pre-multiplied by the joint-space mass-inertia matrix). After clicking Toggle a second time, it also adds the predicted Coriolis/centrifugal terms. As usual, after that the Toggle cycle repeats.

Definition in file tut04_inertia_coriolis.cpp.

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Function Documentation

static void draw_cb	(	double	x0,
		double	y0,
		double	scale
	)			[static]

Definition at line 238 of file tut04_inertia_coriolis.cpp.

References tutsim::draw_robot(), and jtask.

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int main	(	int	argc,
		char **	argv
	)

Definition at line 246 of file tut04_inertia_coriolis.cpp.

References draw_cb, jtask, model, model_filename(), tutsim::run(), servo_cb, and tutsim::set_draw_cb().

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static std::string model_filename

(

TUTROB_XML_PATH_STR

)

[static]

static bool servo_cb	(	size_t	toggle_count,
		double	wall_time_ms,
		double	sim_time_ms,
		jspace::State &	state,
		jspace::Vector &	command
	)			[static]

Definition at line 157 of file tut04_inertia_coriolis.cpp.

References jtask, model, jspace::State::position_, jspace::pretty_print(), and jspace::State::velocity_.

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Variable Documentation

boost::shared_ptr<tut04::JTask> jtask [static]

Definition at line 154 of file tut04_inertia_coriolis.cpp.

boost::shared_ptr<jspace::Model> model [static]

Definition at line 153 of file tut04_inertia_coriolis.cpp.

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