transport.h

机器人运动学动力学及控制的一个小程序,供有兴趣的人参考

// Transport.h: interface for the CTransport class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_TRANSPORT_H__C5B6F255_B967_4D97_8B0D_D9361ED28899__INCLUDED_)
#define AFX_TRANSPORT_H__C5B6F255_B967_4D97_8B0D_D9361ED28899__INCLUDED_

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

#include "Matrix.h"
class CTransport  
{
public:
	CTransport();
	virtual ~CTransport();

public:
	double gravity;
    CMatrix thetad;
    CMatrix theta;
    CMatrix dtheta;
    CMatrix beata;
    CMatrix Kp;
    CMatrix Kv;
    BOOL    control;

	
};

#endif // !defined(AFX_TRANSPORT_H__C5B6F255_B967_4D97_8B0D_D9361ED28899__INCLUDED_)