dynamics.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

// Dynamics.h: interface for the CDynamics class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_DYNAMICS_H__E59A1FFB_14E1_41C6_AFC6_14AB5791272B__INCLUDED_)
#define AFX_DYNAMICS_H__E59A1FFB_14E1_41C6_AFC6_14AB5791272B__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000
#include "Rigid.h"

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

	virtual ~CDynamics();

	CDynamics & operator=(const CDynamics& other);


public:
//关节数目
	int       m_n;
//指向各连杆刚体类的指针 [*(R+i)表示第i个刚体]
    CRigid *  R;
//指向各关节间的伴随变换矩阵的指针 [*(A+m_n*i+j)表示Aij]
    CMatrix *  A;
//机器人惯性矩阵
    CMatrix   M;
//哥氏力离心力矩阵
    CMatrix   C;
//有势力摩擦力及其他力
    CMatrix   N;


public:
    BOOL Init(int n);
    BOOL MakeA(CMatrix theta);
    BOOL MakeMC(CMatrix theta,CMatrix deltatheta);
    double MakeEMEK(int i,int j,int k);
    CMatrix CaculateDdtheta(CMatrix theta,CMatrix deltatheta,CMatrix force);
    CMatrix CaculateForce(CMatrix ddtheta,CMatrix deltatheta);

};

#endif // !defined(AFX_DYNAMICS_H__E59A1FFB_14E1_41C6_AFC6_14AB5791272B__INCLUDED_)