78 lines
3.3 KiB
C
78 lines
3.3 KiB
C
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// -------------------------------------------------------------------------------
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// Copyright (c) 2012, Junggon Kim
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// 1. Redistributions of source code must retain the above copyright notice, this
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// list of conditions and the following disclaimer.
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// 2. Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
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// ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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// -------------------------------------------------------------------------------
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//================================================================================
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// GCoordinate: class for coordinates
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//
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// junggon@gmail.com
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//================================================================================
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#ifndef _GEAR_COORDINATE_
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#define _GEAR_COORDINATE_
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#include "greal.h"
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//=============================================================
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// GCoordinate
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//=============================================================
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class GCoordinate
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{
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public:
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gReal q; // displacement
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gReal dq; // velocity
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gReal ddq; // acceleration
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gReal tau; // torque or force
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gReal DqDp, DdqDp, DddqDp, DtauDp; // derivatives w.r.t. an arbitrary scalar variable p
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bool bPrescribed; // set bPrescribed = true if ddq are prescribed
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// ** Do NOT directly set this! (Only use GJoint::setPrescribed(bool b_).)
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gReal qLL, qUL; // lower and upper limits of q
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gReal dqLL, dqUL; // lower and upper limits of dq
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gReal ddqLL, ddqUL; // lower and upper limits of ddq
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gReal tauLL, tauUL; // lower and upper limits of tau
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gReal aux; // an auxiliary quantity
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public:
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GCoordinate() : q(0), dq(0), ddq(0), tau(0), DqDp(0), DdqDp(0), DddqDp(0), DtauDp(0), bPrescribed(false)
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, qLL((gReal)-1E20), qUL((gReal)1E20), dqLL((gReal)-1E20), dqUL((gReal)1E20), ddqLL((gReal)-1E20), ddqUL((gReal)1E20), tauLL((gReal)-1E20), tauUL((gReal)1E20)
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, aux(0) {}
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~GCoordinate() {}
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void init() {
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q = dq = ddq = tau = DqDp = DdqDp = DddqDp = DtauDp = (gReal)0.0;
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qLL = dqLL = ddqLL = tauLL = (gReal)-1E20;
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qUL = dqUL = ddqUL = tauUL = (gReal)1E20;
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aux = (gReal)0.0;
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}
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};
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#endif
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