GVU Technical Report Number:
GIT-GVU-93-21
Title:
An Object-Oriented Architecture for the Simulation of Rigid-Body Kinematics
Authors:
Geoff George
Brian K. Guenter
Abstract:
Kinematic simulation involves finding simultaneous zeros for a set of
functions representing mechanical linkages which constrain the positions and
orientations of a set of bodies. Evaluation of these functions, and of
their Jacobians with respect to the positions and orientations of the
bodies, is sufficient to allow the use of a multidimensional
Newton-Raphson procedure to solve the kinematic constraint equations. An
abstraction comprising such a function and its Jacobian may
be implemented as a virtual class in an object-oriented language, yielding a
software architecture embodying benefits of object-oriented design and
implementation: abstraction, encapsulation, extensibility and reusability. An
implementation in Eiffel is described.
Keywords:
Kinematic simulation, Newton-Raphson procedure, virtual, object-oriented
design, Eiffel
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