robot_control.hpp

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#ifndef MODERN_ROBOTICS__ROBOT_CONTROL_HPP___
#define MODERN_ROBOTICS__ROBOT_CONTROL_HPP___
 
#include <tuple>
#include <vector>
#include <armadillo>
 
namespace mr
{
 
const arma::vec 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
);
 
const std::tuple<std::vector<arma::vec>, std::vector<arma::vec>>
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
);
}
 
#endif