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33 lines
873 B
Plaintext
33 lines
873 B
Plaintext
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/************************TRICK HEADER*************************
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PURPOSE:
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( Simulate kinematic, planar 2 degree-of-freedom manipulator )
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LIBRARY DEPENDENCIES:
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(
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(manipulator/manipulator.cc)
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)
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*************************************************************/
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#include "sim_objects/default_trick_sys.sm"
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##include "include/trick/exec_proto.h"
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##include "manipulator/manipulator.hh"
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class ManipulatorSimObject : public Trick::SimObject
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{
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public:
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PlanarManip robot;
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ManipulatorSimObject(int ndof): robot(ndof)
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{
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(0.050, "scheduled") robot.calcKinematics();
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(0.050, "scheduled") robot.control();
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("derivative") robot.stateDeriv();
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("integration") trick_ret = robot.updateState();
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}
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};
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ManipulatorSimObject Manip2D(2);
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IntegLoop armIntegLoop(0.050) Manip2D;
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