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fd8252e2c5
* First commit of SIM_robot. * Updates to kinematic arm with controller * Working well enough, still needs some user interface besides trick-TV * Add end-effector path trace to graphics client. * Singularity control bug, remove printouts, udpate makefile * Improve SIM_robot variable server client. * Tidy up RobotDisplay.java * Tidying up * Removing warnings * Working on documentation * Updating documentation * Updating docs * Adding figures for documentation * Removing some stuff in the README carried over from the template * Tidying up * Position vector finally done * Updating based on feedback * Forward position kinematics completed with notation changes * First pass documentation done? * remove printout * Fix typos in text and filenames * Update README.md * Update README.md * made it smaller --------- Co-authored-by: John M. Penn <john.m.penn@nasa.gov>
33 lines
873 B
Plaintext
33 lines
873 B
Plaintext
/************************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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