updateVar(3)

NAME
updateVar, updateVarXsincos -- RCI routines to maintain the VAR structure for a robot.

USAGE
#include <robot_kynvar.h>

updateVar (var, j6, kyn)
   void *var;
   flost *j6;
   KYN *kyn;

updateVarXsincos (var, j6, kyn)
   void *var;
   flost *j6;
   KYN *kyn;

ARGUMENTS

var --
    Robot's VAR structure.

j6 --
    Joint position values (radians or millimeters).

kyn --
    Robot's KYN structure, which defines parameters and kinematic constants.

DESCRIPTION
These routines update entries in a robot's VAR structure.

The VAR structure contains control variables which depend on robot position, such as the sines and cosines of the joint angles, and various coefficients related to the Jacobian. The purpose of this structure is to store these terms so that routines like fwdJacobVar() and gravloadVar() can use them repeatedly without having to recompute them each time. It is only necessary to update the VAR structure when the robot position changes. For full details on the VAR structure and how to obtain it, see the manual page VAR(3).

updateVar() instantiates all the entries in var for the given set of joint angles.

updateVarXsincos() instantiates all the entries in var execpt for the sines and cosines of the angles, which are assumed to have be obtained elsewhere (perhaps as a by-product of the kinematic routines fwdKinematics() or invKinematics()).

The kyn structure contains robot kinematic and dynamic constants. For full details on the KYN structure and how to obtain it, see the manual page KYN(3).

SEE ALSO
KYN(3), VAR(3), fwdJacobianVar(3), fwdKinematics(3).