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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>
24 lines
582 B
C++
24 lines
582 B
C++
#ifndef __MANIPUTILS_HH_
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#define __MANIPUTILS_HH_
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/**************************************************************************
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PURPOSE: (2x2 Linear Algebra utilities)
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***************************************************************************/
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class ManipUtils
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{
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public:
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void MMMult(double **c, double **a, double **b);
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void MVMult(double *c, double **a, double *b);
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void Transpose(double **aT, double **a);
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void VCross(double *c, double *a, double *b);
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void VAdd(double *c, double *a, double *b);
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ManipUtils(){};
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};
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#endif
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