mirror of
https://github.com/nasa/trick.git
synced 2024-12-30 09:58:53 +00:00
33 lines
873 B
Plaintext
33 lines
873 B
Plaintext
|
/************************TRICK HEADER*************************
|
||
|
|
PURPOSE:
|
||
|
|
( Simulate kinematic, planar 2 degree-of-freedom manipulator )
|
||
|
|
LIBRARY DEPENDENCIES:
|
||
|
|
(
|
||
|
|
(manipulator/manipulator.cc)
|
||
|
|
)
|
||
|
|
*************************************************************/
|
||
|
|
|
||
|
|
#include "sim_objects/default_trick_sys.sm"
|
||
|
|
##include "include/trick/exec_proto.h"
|
||
|
|
##include "manipulator/manipulator.hh"
|
||
|
|
|
||
|
|
class ManipulatorSimObject : public Trick::SimObject
|
||
|
|
{
|
||
|
|
|
||
|
|
public:
|
||
|
|
PlanarManip robot;
|
||
|
|
|
||
|
|
ManipulatorSimObject(int ndof): robot(ndof)
|
||
|
|
{
|
||
|
|
(0.050, "scheduled") robot.calcKinematics();
|
||
|
|
(0.050, "scheduled") robot.control();
|
||
|
|
("derivative") robot.stateDeriv();
|
||
|
|
("integration") trick_ret = robot.updateState();
|
||
|
|
}
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
ManipulatorSimObject Manip2D(2);
|
||
|
|
|
||
|
|
IntegLoop armIntegLoop(0.050) Manip2D;
|