sddynamics.h

机器人动力学源码,可以根据机器人当前状态精神其加速度

// SDDynamics.h: interface for the CSDDynamics class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_SDDYNAMICS_H__999B1DDC_185E_4066_9603_0A14C0AA6D43__INCLUDED_)
#define AFX_SDDYNAMICS_H__999B1DDC_185E_4066_9603_0A14C0AA6D43__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

#include "Dynamics.h"

class CSDDynamics : public CDynamics  
{
public:
	CSDDynamics();
	CSDDynamics(int n):CDynamics(n){};

	virtual ~CSDDynamics();

public:
    BOOL MakeN(CMatrix theta,CMatrix deltatheta,CMatrix beata,double gravity);


};

#endif // !defined(AFX_SDDYNAMICS_H__999B1DDC_185E_4066_9603_0A14C0AA6D43__INCLUDED_)