tutorials/tut00_test.cpp File Reference

Author:

Roland Philippsen

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

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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)
int	main (int argc, char **argv)
Variables
static boost::shared_ptr < jspace::Model >	model

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Detailed Description

Author:

Roland Philippsen

A quick test to see whether the planar simulator works as expected. It starts by re-initializing the joint state to a swining motion, and when you press Toggle it sends zeroed-out torque commands to the robot. This makes the robot fall according to gravity from whichever position it was in when you press Toggle. Pressing Toggle again goes back to the initial mode.

Definition in file tut00_test.cpp.

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Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 79 of file tut00_test.cpp.

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

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static std::string model_filename

(

TUTROB_XML_PATH_STR

)

[static]

Referenced by main().

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 44 of file tut00_test.cpp.

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

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Variable Documentation

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

Definition at line 41 of file tut00_test.cpp.

Referenced by main(), jspace::mass_inertia_explicit_form(), and servo_cb().

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