Manipulator_struct Struct Reference

#include <structures.h>

Collaboration diagram for Manipulator_struct:

[legend]List of all members.

Public Attributes
int	NA
int	NL
int	NX
int	NO
int	Orient
double *	alpha
double *	theta
double *	dvals
double *	avals
MATRIX *	trans
ANGLE *	Angles
Platform	PLAT
MATRIX *	Weights
MATRIX **	x_of_link
double *	LINKS
EndEffector	Gripper

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Member Data Documentation

double* Manipulator_struct::alpha

Definition at line 72 of file structures.h.

ANGLE* Manipulator_struct::Angles

Definition at line 78 of file structures.h. Referenced by avoid_limits(), FSP(), IKOR_driver(), and init_ARM().

double * Manipulator_struct::avals

Definition at line 72 of file structures.h.

double * Manipulator_struct::dvals

Definition at line 72 of file structures.h.

EndEffector Manipulator_struct::Gripper

Definition at line 83 of file structures.h.

double* Manipulator_struct::LINKS

Definition at line 82 of file structures.h. Referenced by find_obs_beta(), GET_JACOBIAN(), init_ARM(), and Init_Globals().

int Manipulator_struct::NA

Definition at line 67 of file structures.h. Referenced by IKerror(), IKOR_driver(), init_ARM(), main(), and OPEN_FILES().

int Manipulator_struct::NL

Definition at line 67 of file structures.h. Referenced by avoid_obstacles(), Euler_to_Velocities(), ExtractRPY2(), find_obs_beta(), GET_JACOBIAN(), IKOR_driver(), init_ARM(), Init_Globals(), and main().

int Manipulator_struct::NO

Definition at line 67 of file structures.h.

int Manipulator_struct::NX

Definition at line 67 of file structures.h.

int Manipulator_struct::Orient

Definition at line 67 of file structures.h. Referenced by IKOR_driver(), main(), and OPEN_FILES().

Platform Manipulator_struct::PLAT

Definition at line 79 of file structures.h. Referenced by findt_with_Betas_Nonholonomic(), findt_without_Betas_Nonholonomic(), FSP(), init_ARM(), Init_Globals(), and main().

double * Manipulator_struct::theta

Definition at line 72 of file structures.h.

MATRIX* Manipulator_struct::trans

Definition at line 76 of file structures.h.

MATRIX* Manipulator_struct::Weights

Definition at line 80 of file structures.h. Referenced by Build_Grammian2(), IKOR_driver(), and init_ARM().

MATRIX** Manipulator_struct::x_of_link

Definition at line 81 of file structures.h.

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The documentation for this struct was generated from the following file:

• robot/control/oldikor/IKOR/structures.h

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