tutorials/tut01_joint_coupling.cpp File Reference

Author:

Roland Philippsen

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#include "tutsim.hpp"

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Functions
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)

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Detailed Description

Author:

Roland Philippsen

A tutorial which illustrates the dynamic coupling between joints of a kinematic chain. The simulation starts out as a PD control to the zero position. When you press Toggle, it sends a torque command which is zero everyhere except for the last joint, which receives a sinusoidal open-loop torque. The resulting motion shows that even though only one joint has non-zero torque, the entire chain starts to move. Clicking Toggle again switches back to the initial mode and then the cycle repeats.

Definition in file tut01_joint_coupling.cpp.

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Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 70 of file tut01_joint_coupling.cpp.

References tutsim::run(), and servo_cb.

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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 39 of file tut01_joint_coupling.cpp.

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

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