robot/control/oldikor/IKOR/Jacob_UTILS.c File Reference

#include <IKOR/general.h>

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Functions
void	GET_JACOBIAN (MATRIX *Jacob, MATRIX *Qarray)
void	GET_JACOBIAN_ALTERED (MATRIX *Jacob, MATRIX *Qarray)
MATRIX *	getT2 (double ZA, double YB, double XG, double tx, double ty, double tz)
void	ExtractRPY2 (MATRIX *T, MATRIX *x_of_link)

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Function Documentation

void ExtractRPY2 (  MATRIX *  T, MATRIX *  x_of_link )

Definition at line 110 of file Jacob_UTILS.c. References MATRIX::cols, datafp, Manipulator_struct::NL, MATRIX::p, PI, Robot, SMALL, and ZERO.

void GET_JACOBIAN (  MATRIX *  Jacob, MATRIX *  Qarray )

Definition at line 38 of file Jacob_UTILS.c. References GET_JACOB(), Manipulator_struct::LINKS, LL, Manipulator_struct::NL, and Robot. Referenced by avoid_limits(), avoid_obstacles(), and IKOR_driver().

void GET_JACOBIAN_ALTERED (  MATRIX *  Jacob, MATRIX *  Qarray )

Definition at line 46 of file Jacob_UTILS.c. References GET_JACOB(). Referenced by find_obs_beta().

MATRIX* getT2 (  double  ZA, double  YB, double  XG, double  tx, double  ty, double  tz )

Definition at line 70 of file Jacob_UTILS.c. References mat_malloc(), and MATRIX::p.

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