robot_control.hpp File Reference

#include <tuple>
#include <vector>
#include <armadillo>

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Namespaces
	mr

Functions
const arma::vec	mr::ComputeTorque (const arma::vec &thetalist, const arma::vec &dthetalist, const arma::vec &eint, const arma::vec3 &g, const std::vector< arma::mat44 > &Mlist, const std::vector< arma::mat66 > &Glist, const std::vector< arma::vec6 > &Slist, const arma::vec &thetalistd, const arma::vec &dthetalistd, const arma::vec &ddthetalistd, const double kp, const double ki, const double kd)
	Computes the joint control torques at a particular time instant. More...
const std::tuple< std::vector< arma::vec >, std::vector< arma::vec > >	mr::SimulateControl (const arma::vec &thetalist, const arma::vec &dthetalist, const arma::vec3 &g, const std::vector< arma::vec6 > &Ftipmat, const std::vector< arma::mat44 > &Mlist, const std::vector< arma::mat66 > &Glist, const std::vector< arma::vec6 > &Slist, const std::vector< arma::vec > &thetamatd, const std::vector< arma::vec > &dthetamatd, const std::vector< arma::vec > &ddthetamatd, const arma::vec3 &gtilde, const std::vector< arma::mat44 > &Mtildelist, const std::vector< arma::mat66 > &Gtildelist, const double kp, const double ki, const double kd, const double dt, const size_t intRes)
	Simulates the computed torque controller over a given desired trajectory. More...