diff --git a/c++/index.html b/c++/index.html
index f694a14..d99f304 100644
--- a/c++/index.html
+++ b/c++/index.html
@@ -55,6 +55,10 @@
               <ul class="current">
                 <li class="toctree-l1 current"><a class="reference internal current" href="#">C++</a>
     <ul class="current">
+    <li class="toctree-l2"><a class="reference internal" href="#how-to-use">How to Use</a>
+    </li>
+    <li class="toctree-l2"><a class="reference internal" href="#api-references">API References</a>
+    </li>
     </ul>
                 </li>
               </ul>
@@ -89,35 +93,11 @@
           <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
             <div class="section" itemprop="articleBody">
               
-                <h2 id="3-other-main-functions">3. Other Main Functions</h2>
-<p>前章で<code>main_sim.m</code>とその内部で実行される5つの種類の関数について述べた．歩行シミュレーションの実行に用られるMain関数は<code>main_sim.m</code>ただ一つである．その代わりに使用するユーザーがそれぞれConfiguration関数を独自に設定することで様々なシミュレーションを同時に開発することができ，これがClimbLabがシミュレーションプラットフォームである所以である．しかし，<code>main_sim.m</code>以外にも，ClimbLabのフォルダ内には単独で実行できる関数が存在する．これらの関数には接頭辞に<code>main_</code>が付けられており，以下の5つのMain関数が存在する．</p>
-<ul>
-<li>
-<p><code>main_iterative_sim.m</code></p>
-</li>
-<li>
-<p><code>main_LP_2D_analysis.m</code></p>
-</li>
-<li>
-<p><code>main_LP_3D_analysis.m</code></p>
-</li>
-<li>
-<p><code>main_target_detection.m</code></p>
-</li>
-<li>
-<p><code>main_iterative_target_detection.m</code></p>
-</li>
-<li>
-<p><code>main_grid_map_designer.m</code></p>
-</li>
-</ul>
-<p>上記の5つの関数の役割について以下で説明する．なお，これらのファイルを実行するためには，実行する際のMATLABの「現在のフォルダ」や，MATLABのパスに注意する必要がある．</p>
-<p><code>main_iterative_sim.m</code>は，宇野らによって実装された，脚型ロボットの関節配置の違いによるトルク消費の比較をおこなうための実行コードである．このコード内では<code>main_sim.m</code>に相当するコードがループによって繰り返し実行されるようになっている．ループ内では，ある指定した姿勢で一定時間ロボットの姿勢を保ち，その間のロボットのトルク消費を計算する．姿勢を少しずつ移動させながらループを繰り返して検証していくことで，様々な姿勢におけるロボットのトルク消費を分析することができる．<code>main_iterative_sim.m</code>は，フォルダ<code>/climblab/src/script</code>下に置かれている．</p>
-<p><code>main_LP_2D_analysis.m</code>および<code>main_LP_3D_analysis.m</code>はロボットのリンクパラメータ(LP)から，ロボットの脚先可動範囲をそれぞれ2次元的と3次元的に描画する関数である．ロボットモデルをアップデートして新たなリンクパラメータへと変更する際などに，これらの関数を使うことで広い脚先可動範囲を持つロボットの設計を進めることができる．これらの関数はフォルダ<code>/climblab/src/robot/LP_analysis</code>下に置かれている．</p>
-<p><code>main_target_detection.m</code>は，地形情報データに対して把持可能点検出をおこなう実行ファイルである．<code>main_sim.m</code>内でも<code>target_detection.m</code>を実行して把持可能点検出をおこなうこともできるが，予めこのMain関数を用いて，<code>main_sim.m</code>内で実行されるコードと同一のコードによって把持可能点検出だけを試行することができる．この関数を用いて，把持可能点検出の結果を予め確かめたりパラメータを調整したりすることで，地形内の把持点の分布を予め把握してから，実際の歩行シミュレーションに取り組むことができる．<code>main_target_detection.m</code>では，Configuration関数として，<code>config_target_detection_testing_param.m</code>を読み込んでいるため，このConfig関数に書いたのと同じパラメータを歩行シミュレーションのConfig関数にも記述すれば，同じ把持可能点の出力結果が<code>main_sim</code>でも得られることになる．また把持可能点検出は処理に時間がかかるため，何度も同じ地形マップでの歩行シミュレーションを繰り返して検証する場合，予め<code>main_target_detection.m</code>を実行して得られた把持点の分布を保存し，<code>main_sim.m</code>では把持可能点検出アルゴリズムを実行するのではなく保存した把持点分布を読み込むようにすれば，歩行シミュレーションにかかる時間を節約することができる．<code>main_target_detection.m</code>は，フォルダ<code>/climblab/lib/target_detection</code>下に置かれている．</p>
-<p>また，<code>main_iterative_target_detection.m</code>は，<code>main_target_detection.m</code>を繰り返し実行するように書かれた関数である．把持可能点検出では，地形情報をボクセル化し，一つの巨大な三次元配列に変換する．そのため，高低差が激しいマップや奥行の広い地形マップの場合，三次元配列の要素数がMATLABで扱えるサイズを超えてしまい，計算できなくなってしまう．この問題を避けるために，ロードした地形情報をxy方向に小さな「セクション」に切り分け，切り分けたセクションをz方向に「ステージ」としてさらに切り分ける．この切り分けた狭い範囲に対して把持可能点検出をおこなっていくことで，広大な地形マップに対しても地形内全体の把持可能点を一気に検出することができる．</p>
-<p>最後の<code>main_grid_map_designer.m</code>は，格子状に把持点を配置したグリッドマップを作成する実行ファイルである．マップのサイズとグリッド幅を指定することで，グリッド状に把持点を配置してマップを生成する．さらに，指定した割合だけ把持点をランダムに間引いたり，指定したエリア内に存在する把持点を消去したりすることで，疎密さを有するようなマップやゴール到達のために迂回を要するようなマップなどを自由に設計することができる．<code>main_grid_map_designer.m</code>はフォルダ<code>/climblab/src/environment/grid_map</code>下に置かれた関数である．</p>
-<p>以上が，main_sim.m以外に実行ファイルとしてClimbLabに存在しているMain関数である．</p>
+                <h1 id="spacedyn-as-a-c-library">SpaceDyn as a C++ library</h1>
+<h2 id="how-to-use">How to Use</h2>
+<p>To be added ...</p>
+<h2 id="api-references">API References</h2>
+<p>To be added ...</p>
               
             </div>
           </div><footer>
diff --git a/index.html b/index.html
index 1b11441..18f49aa 100644
--- a/index.html
+++ b/index.html
@@ -229,5 +229,5 @@ <h2 id="acknowledgement">Acknowledgement</h2>
 
 <!--
 MkDocs version : 1.6.0
-Build Date UTC : 2024-07-19 02:26:04.453989+00:00
+Build Date UTC : 2024-07-19 04:16:03.765471+00:00
 -->
diff --git a/search/search_index.json b/search/search_index.json
index b9f0e30..611556b 100644
--- a/search/search_index.json
+++ b/search/search_index.json
@@ -1 +1 @@
-{"config":{"indexing":"full","lang":["en"],"min_search_length":3,"prebuild_index":false,"separator":"[\\s\\-]+"},"docs":[{"location":"","text":"SpaceDyn Author(s) and maintainer(s): Space Robotics Lab. Contact email: srl-orbital(at)grp.tohoku.ac.jp Overview The SpaceDyn is a MATLAB/C++ library for the kinematic and dynamic analysis and simulation of articulated multi-body systems with a moving base. Examples of such systems are a satellite with mechanical appendages, a free-flying space robot, a wheeled mobile robot, and a walking robot, all of which makes motions in the environment with or without gravity. This toolbox can handle open chain systems with topological tree configuration. A parallel manipulator, for example, then cannot be supported directly. A walking robot contacting on the ground with more than two legs or limbs at a time seems to form a closed chain including the ground, however, we can handle such a system with a proper model of ground contact at each contact point. Parallel manipulators can be treated with virtual cut of a kinematic chain and a corresponding virtual force model. Some academic papers regarding this toolbox is published by Kazuya Yoshida and his co-author(s) [1]. For the technical points of this software, please consult those publications as well as the following chapters of this online user manual. We hope that you could find this toolbox useful for your application. Notice Now, the Spacedyn is Version 2, Release 0. The Spacedyn is a free software. You can download and use it freely for your academic purpose. Any of commercial use is kindly refused. There is no warranty for any damages caused by this software. If you intend to modify and re-distribute the Spacedyn, please consult us. The MATLAB toolbox of Spacedyn requires MATLAB 5.0 or higher. ( It uses functions that are not supported in 4.0 or lower.) Reference Note If you use this simulator in an academic context, please put the following citation. [1] K.Yoshida, The SpaceDyn: a MATLAB toolbox for space and mobile robots, Proc. IEEE/RSJ IROS , pp. 1633--1638. 1 2 3 4 5 6 7 8 9 @ inproceedings { spacedyn , title = { The SpaceDyn : a MATLAB toolbox for space and mobile robots }, author = { Kazuya Yoshida }, booktitle = { Proceedings 1999 IEEE / RSJ International Conference on Intelligent Robots and Systems }, volume = { 3 }, pages = { 1633 -- 1638 }, year = { 1999 }, doi = { 10.1109 / IROS . 1999.811712 }, } This paper is available in IEEE Xplorer . Release Note Oct. 7th, 1999, SpcaeDyn version 1 release 0 was released in the original webpage . Sep. 17th, 2020, SpaceDyn version 2 release 0 was released in GitHub. Oct. 16th, 2020, SpaceDyn C++ was released in GitHub. May. 31th, 2024, SpaceDyn version 2 release 1 was released in GitHub. Debug integral of base orientation (fixed f_dyn_rk2 and dc2qtn , added qtn2dc and w2dQtn ) FAQ Please read this document for details, and FAQ Page . For bug reports or any questions, please contact us via e-mail : 1 spacedyn_support(at)astro.mech.tohoku.ac.jp or 1 srl-orbital(at)grp.tohoku.ac.jp Acknowledgement SpaceDyn is originally developed and released by alumini of SRL listed in the original dcument . C++ version is developed by Dr. Satoko Abiko and Dr. Yoichiro Sato.","title":"Top"},{"location":"#spacedyn","text":"Author(s) and maintainer(s): Space Robotics Lab. Contact email: srl-orbital(at)grp.tohoku.ac.jp","title":"SpaceDyn"},{"location":"#overview","text":"The SpaceDyn is a MATLAB/C++ library for the kinematic and dynamic analysis and simulation of articulated multi-body systems with a moving base. Examples of such systems are a satellite with mechanical appendages, a free-flying space robot, a wheeled mobile robot, and a walking robot, all of which makes motions in the environment with or without gravity. This toolbox can handle open chain systems with topological tree configuration. A parallel manipulator, for example, then cannot be supported directly. A walking robot contacting on the ground with more than two legs or limbs at a time seems to form a closed chain including the ground, however, we can handle such a system with a proper model of ground contact at each contact point. Parallel manipulators can be treated with virtual cut of a kinematic chain and a corresponding virtual force model. Some academic papers regarding this toolbox is published by Kazuya Yoshida and his co-author(s) [1]. For the technical points of this software, please consult those publications as well as the following chapters of this online user manual. We hope that you could find this toolbox useful for your application.","title":"Overview"},{"location":"#notice","text":"Now, the Spacedyn is Version 2, Release 0. The Spacedyn is a free software. You can download and use it freely for your academic purpose. Any of commercial use is kindly refused. There is no warranty for any damages caused by this software. If you intend to modify and re-distribute the Spacedyn, please consult us. The MATLAB toolbox of Spacedyn requires MATLAB 5.0 or higher. ( It uses functions that are not supported in 4.0 or lower.)","title":"Notice"},{"location":"#reference","text":"Note If you use this simulator in an academic context, please put the following citation. [1] K.Yoshida, The SpaceDyn: a MATLAB toolbox for space and mobile robots, Proc. IEEE/RSJ IROS , pp. 1633--1638. 1 2 3 4 5 6 7 8 9 @ inproceedings { spacedyn , title = { The SpaceDyn : a MATLAB toolbox for space and mobile robots }, author = { Kazuya Yoshida }, booktitle = { Proceedings 1999 IEEE / RSJ International Conference on Intelligent Robots and Systems }, volume = { 3 }, pages = { 1633 -- 1638 }, year = { 1999 }, doi = { 10.1109 / IROS . 1999.811712 }, } This paper is available in IEEE Xplorer .","title":"Reference"},{"location":"#release-note","text":"Oct. 7th, 1999, SpcaeDyn version 1 release 0 was released in the original webpage . Sep. 17th, 2020, SpaceDyn version 2 release 0 was released in GitHub. Oct. 16th, 2020, SpaceDyn C++ was released in GitHub. May. 31th, 2024, SpaceDyn version 2 release 1 was released in GitHub. Debug integral of base orientation (fixed f_dyn_rk2 and dc2qtn , added qtn2dc and w2dQtn )","title":"Release Note"},{"location":"#faq","text":"Please read this document for details, and FAQ Page . For bug reports or any questions, please contact us via e-mail : 1 spacedyn_support(at)astro.mech.tohoku.ac.jp or 1 srl-orbital(at)grp.tohoku.ac.jp","title":"FAQ"},{"location":"#acknowledgement","text":"SpaceDyn is originally developed and released by alumini of SRL listed in the original dcument . C++ version is developed by Dr. Satoko Abiko and Dr. Yoichiro Sato.","title":"Acknowledgement"},{"location":"6_development_policy/","text":"6. Development Policy \u672c\u7ae0\u3067\u306fClimbLab\u3092\u4f7f\u3063\u3066\u958b\u767a\u3092\u304a\u3053\u306a\u3046\u5834\u5408\u306e\u6ce8\u610f\u70b9\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e \u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u6210\u3057\u305f\u308a\u6a5f\u80fd\u3092\u8ffd\u52a0\u3059\u308b\u5834\u5408\u306f\uff0c\u6b21\u306e\u53d6\u308a\u6c7a\u3081\u3092\u5b88\u3063\u3066\u304a\u3053\u306a\u3046\uff0e\u57fa\u672c\u7684\u306a\u30b3\u30f3\u30bb\u30d7\u30c8\u3068\u3057\u3066\uff0c\u30b7\u30f3\u30d7\u30eb\uff0c\u304b\u3064\u4eca\u5f8c\u3082\u958b\u767a\u3092\u7d9a\u3051\u3084\u3059\u3044\u3088\u3046\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u306e\u30d5\u30a9\u30fc\u30de\u30c3\u30c8\u3092\u5b88\u308a\uff0c\u304b\u3064\u8ab0\u304c\u8aad\u3093\u3067\u3082\u8aad\u307f\u3084\u3059\u304f\u7406\u89e3\u3057\u3084\u3059\u3044\u3088\u3046\u306b\u66f8\u304f\u3053\u3068\u3092\u5fc3\u304c\u3051\u308b\uff0e \u3000\u3053\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u306e\u7406\u5ff5\u3092\u5b88\u308b\u3053\u3068\u306f\u975e\u5e38\u306b\u91cd\u8981\u3067\u3042\u308a\uff0c\u305d\u306e\u305f\u3081\u306b\u91cd\u8981\u306a\u3053\u3068\u3068\u3057\u3066\uff0c\u65e2\u5b58\u306e main_sim \u4ee5\u5916\u306e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u7528Main\u95a2\u6570\u306f\u4f5c\u6210\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u305f\u308b\u6240\u4ee5\u306f\uff0c\u300c1\u3064\u306e\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u3067\u591a\u69d8\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u53ef\u80fd\u3067\u3042\u308b\u300d\u3053\u3068\u306b\u3042\u308b\u305f\u3081\uff0c\u305d\u306e\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u3092\u5897\u3084\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u305d\u306e\u305f\u3081\uff0c\u65b0\u305f\u306a\u95a2\u6570\u3084\u6a5f\u80fd\u3092\u4f5c\u6210\u3059\u308b\u5834\u5408\u3082\uff0c\u65e2\u5b58\u306e main_sim \u306b\u7d44\u307f\u8fbc\u3080\u5f62\u3067\u5fc5\u305a\u5b9f\u88c5\u3059\u308b\uff0e \u65b0\u3057\u3044\u6a5f\u80fd\u3092\u691c\u8a3c\u3057\u306a\u304c\u3089\u5b9f\u88c5\u3059\u308b\u969b\uff0c\u6b21\u306e\u70b9\u306b\u6ce8\u610f\u3059\u308b\u3068\u958b\u767a\u304c\u30b9\u30e0\u30fc\u30ba\u306b\u9032\u3080\u305f\u3081\uff0c\u5fc5\u8981\u3067\u306f\u306a\u3044\u8a2d\u5b9a\u306foff\u306b\u3059\u308b\u3068\u3088\u3044\uff0e * dynamics\u304c\u5fc5\u8981\u3067\u306a\u3044\u5834\u5408\u306f\uff0cdynamics\u3092off\u306b\u3059\u308b * \u6b69\u884c\u3059\u308b\u5fc5\u8981\u304c\u306a\u3044\u5834\u5408\uff0cgait type\u3092\u2019do_nothing\u2019\u306b\u3059\u308b * \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u4f55\u79d2\u3082\u56de\u3059\u5fc5\u8981\u304c\u306a\u3044\u5834\u5408\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u6700\u5927\u6642\u9593\u30920\u79d2\u306b\u3059\u308b\uff0e \u307e\u305f\uff0c\u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u308b\u5834\u5408\u306e\u95a2\u6570\u306e\u7f6e\u304d\u5834\u6240\u306b\u3064\u3044\u3066\u306f\uff0c4\u7ae0\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3092\u53c2\u8003\u306b\uff0c\u5171\u901a\u3057\u305f\u5f79\u5272\u3067\u304f\u304f\u3089\u308c\u308b\u9069\u5207\u306a\u30d5\u30a9\u30eb\u30c0\u306b\u7f6e\u304f\uff0e \u305d\u306e\u6642\u306e\uff0c\u95a2\u6570\u306e\u547d\u540d\u65b9\u6cd5\u306b\u3064\u3044\u3066\u4ee5\u4e0b\u306e\u70b9\u306b\u6ce8\u610f\u3059\u308b\uff0e \u30b9\u30cd\u30fc\u30af\u30b1\u30fc\u30b9\u3092\u7528\u3044\u308b \u2715 updGiaCalculation.m \u3007 upd_gia_calulation.m \u95a2\u6570\u540d\u306b\u5927\u6587\u5b57\u306f\u4f7f\u308f\u306a\u3044 \u2715 upd_GIA_calculation.m \u3007 upd_gia_calculation.m \u95a2\u6570\u306e\u63a5\u982d\u8f9e\u3092\uff0c\u6b21\u306e\u65e2\u5b58\u306e\u95a2\u6570\u306e\u547d\u540d\u65b9\u6cd5\u306b\u306e\u3063\u3068\u3063\u3066\u63a1\u7528\u3059\u308b config_: 2.4\u7bc0\u53c2\u7167\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u8a2d\u5b9a\u306b\u95a2\u308f\u308b\u95a2\u6570\uff0e ini_: 2.5\u7bc0\u53c2\u7167\uff0e\u30ed\u30dc\u30c3\u30c8\u3084\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u306e\u521d\u671f\u8a2d\u5b9a\u306b\u95a2\u308f\u308b\u95a2\u6570 upd_: 2.6\u7bc0\u53c2\u7167\uff0e\u30eb\u30fc\u30d7\u5185\u3067\uff0c\u6b69\u5bb9\u3084\u5236\u5fa1\u30fb\u529b\u5b66\u306b\u95a2\u308f\u308b\u95a2\u6570 vis_: 2.7\u7bc0\u53c2\u7167\uff0e\u56f3\u306e\u63cf\u753b\u306b\u95a2\u308f\u308b\u95a2\u6570 sav_: 2.8\u7bc0\u53c2\u7167\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5c65\u6b74\u306e\u4fdd\u5b58\u306b\u95a2\u308f\u308b\u95a2\u6570 main_ : 3\u7ae0\u53c2\u7167\uff0e\u5358\u4f53\u3067\u5b9f\u884c\u3057\u3066climblab\u306e\u958b\u767a\u306b\u6709\u7528\u306a\u95a2\u6570\u306b\u4ed8\u3051\u308b \u95a2\u6570\u306e\u540d\u524d\u306f\u3069\u3093\u306a\u306b\u9577\u304f\u306a\u3063\u3066\u3082\u69cb\u308f\u306a\u3044\u306e\u3067\uff0c\u305d\u306e\u95a2\u6570\u304c\u3069\u3046\u3044\u3046\u6a5f\u80fd\u3092\u6709\u3057\u3066\u3044\u308b\u306e\u304b\u5206\u304b\u308b\u3088\u3046\u306b\u66f8\u304f\uff0e \u4e0a\u8a18\u306e\u30eb\u30fc\u30eb\u306b\u306e\u3063\u3068\u3063\u3066\u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u6210\u3057\u305f\u5f8c\u306e\uff0c\u5177\u4f53\u7684\u306a\u30b3\u30fc\u30c9\u306e\u8a18\u8ff0\u30eb\u30fc\u30eb\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0e\u4ee5\u964d\u306e\u5185\u5bb9\u306f\u65b0\u305f\u306a\u6a5f\u80fd\u306e\u5b9f\u88c5\u306e\u969b\u306b\u3082\u5171\u901a\u3059\u308b\u6ce8\u610f\u4e8b\u9805\u3067\u3042\u308b\uff0e 1. \u65b0\u3057\u3044\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u306e\u5192\u982d\u306b\u305d\u306e\u95a2\u6570\u306e\u4ed5\u69d8\u306b\u3064\u3044\u3066\u660e\u78ba\u306b\u8a18\u8f09\u3059\u308b\uff0e \u3053\u306e\u5192\u982d\u306e\u8a18\u8ff0\u3092\u8aad\u3080\u3060\u3051\u3067\uff0c\u305d\u306e\u95a2\u6570\u306e\u304a\u304a\u307e\u304b\u306a\u6a5f\u80fd\u304c\u628a\u63e1\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\uff0e \u8a18\u8ff0\u3059\u308b\u9805\u76ee\u306f\uff0c \u95a2\u6570\u306e\u304f\u304f\u308a(configuration/update/visualize/save/main) \u95a2\u6570\u540d \u95a2\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u4f5c\u6210\u65e5\u6642 \u4f5c\u6210\u8005 \u6700\u7d42\u7de8\u96c6\u65e5\u6642 \u6700\u7d42\u7de8\u96c6\u8005 \u95a2\u6570\u306e\u8a73\u7d30\u306a\u8aac\u660e \u51fa\u529b\u5909\u6570\u306e\u4e00\u89a7\u3068\uff0c\u5404\u5909\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u5165\u529b\u5909\u6570\u306e\u4e00\u89a7\u3068\uff0c\u5404\u5909\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u3067\u3042\u308b\uff0e\u4ee5\u4e0b\u306b\u8a18\u8ff0\u4f8b\u3092\u793a\u3059\uff0e 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 %%%%%% Configuration %%%%%% config_save_settings %%%%%% %%%%%% Configure default saving settings %%%%%% %%%%%% Created 2020 - 07 - 08 %%%%%% Warley Ribeiro %%%%%% Last update : 2021 - 03 - 31 %%%%%% Keigo Haji % % % Load default configurations for saving % % Function variables : % % OUTPUT % save_settings : Data saving settings ( struct ) % INPUT % - 2. \u3080\u3084\u307f\u306bmain_sim\u5185\u306b\u65b0\u305f\u306a\u95a2\u6570\u306e\u8a18\u8ff0\u3092\u5897\u3084\u3055\u305a\uff0cmain_sim\u5185\u3067\u5b9f\u884c\u3055\u308c\u3066\u3044\u308b\u65e2\u5b58\u306e\u95a2\u6570\u5185\u306b\u7d44\u307f\u8fbc\u3080\u5f62\u3067\u65b0\u305f\u306a\u6a5f\u80fd\u3092\u5b9f\u88c5\u3059\u308b\uff0e \u3053\u308c\u306f\uff0cClimbLab\u304c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u6a5f\u80fd\u3057\u3066\u3044\u304f\u305f\u3081\u306bmain_sim\u306e\u4e00\u822c\u6027\u3092\u62c5\u4fdd\u3059\u308b\u305f\u3081\u3067\u3042\u308b\uff0e\u307e\u305f\uff0c\u540c\u6642\u306bmain_sim\u3092\u8907\u6570\u4eba\u304c\u7de8\u96c6\u3059\u308b\u3068Git\u306emerge\u306e\u969b\u306bconflict\u304c\u767a\u751f\u3057\u3084\u3059\u304f\u306a\u308b\u306e\u3067\uff0c\u305d\u306e\u554f\u984c\u3092\u907f\u3051\u308b\u3068\u3044\u3046\u76ee\u7684\u3082\u3042\u308b\uff0e \u60aa\u3044\u4f8b\uff09main_sim\u5185\u306b\u76f4\u63a5\u5b9f\u88c5 1 2 3 4 5 6 7 8 9 10 MAIN_FILE . m ... disp ( time ); if gait_param . type = \u2018 new_gait \u2019 new_gait ( ... ) else path_planning_param = upd_path_planning ( ... ); end [ motion_planning_param , des_SV ] = upd_motion_planning ( ... ); ... \u826f\u3044\u4f8b\uff09main_sim\u306f\u305d\u306e\u307e\u307e\u306b\uff0cupd\u95a2\u6570\u5185\u3067\u5834\u5408\u5206\u3051\u3092\u304a\u3053\u306a\u3063\u3066\u3044\u308b 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 MAIN_FILE . m ... disp ( time ); path_planning_param = upd_path_planning ( ... ); [ motion_planning_param , des_SV ] = upd_motion_planning ( ... ); ... FUNCTION_FILE . m function path_planning_param = upd_path_planning ( ... ) switch gait_param . type case \u2018 new_gait \u2019 new_gait ( ... ); case \u2018 old_gait \u2019 ... 3. \u5909\u6570\u306f\u306a\u308b\u3079\u304fclass\u306b\u53ce\u5bb9\u3059\u308b \u5927\u91cf\u306e\u30ed\u30fc\u30ab\u30eb\u5909\u6570\u3092\u95a2\u6570\u5185\u3067\u306a\u308b\u3079\u304f\u6271\u308f\u306a\u3044\u3088\u3046\u306b\u3059\u308b\uff0e\u3053\u308c\u306fMATLAB\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u5185\u3067\u306e\u5909\u6570\u306e\u628a\u63e1\u304c\u96e3\u3057\u304f\u306a\u308b\u305f\u3081\u3067\u3042\u308b\uff0e\u5909\u6570\u306e\"\u304f\u304f\u308a\"\u3092\u8003\u3048\u3066\uff0c\u65e2\u5b58\u306eclass\u306b\u3042\u3066\u306f\u307e\u308b\u5834\u5408\u306f\u65e2\u5b58\u306eclass( gait_planning_param , motion_planning_param \u7b49)\u306b\u53ce\u5bb9\u3057\uff0c\u306a\u3044\u5834\u5408\u306f\u81ea\u5206\u306e\u6a5f\u80fd\u306b\u3042\u3063\u305f\u65b0\u305f\u306aclass\u3092\u4f5c\u6210\u3059\u308b\u3053\u3068\uff0e \u60aa\u3044\u4f8b\uff09local\u5909\u6570\u304c\u591a\u3044\uff0e 1 2 3 4 5 6 7 8 ... leg1_des_pos = \u2026 leg2_des_pos = \u2026 leg3_des_pos = \u2026 leg4_des_pos = \u2026 base_des_pos = ... generate_trajectory ( leg1_des_pos , leg2_des_pos , leg3_des_pos , leg4_des_pos , base_des_pos ); ... \u3044\u3044\u4f8b\uff09\u5909\u6570\u304cclass\u306b\u5206\u985e\u3055\u308c\u3066\u3044\u308b 1 2 3 4 5 ... path_planning_param . leg_des_pos = \u2026 path_planning_param . base_des_pos = \u2026 generate_trajectory ( path_planning_param ); ... 4. \u5909\u6570\u540d\u3092\u308f\u304b\u308a\u3084\u3059\u304f\u3064\u3051\u308b \u5909\u6570\u540d\u306f\u3069\u3093\u306a\u306b\u9577\u304f\u306a\u3063\u3066\u3082\u3044\u3044\u306e\u3067\uff0c\u8ab0\u306b\u3067\u3082\u308f\u304b\u308b\u3088\u3046\u306b\u4ed8\u3051\u308b\uff0e\u5909\u6570\u540d\u306e\u4ed8\u3051\u65b9\u306f\u95a2\u6570\u3068\u540c\u3058\u304f\uff0csnake_case\u3067\u7d71\u4e00\u3057\uff0ccamelCase\u306f\u4f7f\u308f\u306a\u3044\uff0e\u307e\u305f\uff0c\u305d\u306e\u5909\u6570\u304c\u3069\u3046\u3044\u3046\u5024\u3092\u53ce\u5bb9\u3057\uff0c\u305d\u306e\u5358\u4f4d(\u6b21\u5143)\u306f\u306a\u3093\u306a\u306e\u304b\u3092\u30b3\u30e1\u30f3\u30c8\u3067\u660e\u8a18\u3059\u308b\uff0e \u60aa\u3044\u4f8b\uff09\u4eba\u304c\u8aad\u3093\u3067\u3082\u4f55\u306e\u7565\u79f0\u304b\u308f\u304b\u3089\u306a\u3044 1 2 3 4 5 ... L1 = \u2026 WP . T = \u2026 GPM = ... ... \u3044\u3044\u4f8b\uff09\u30b3\u30e1\u30f3\u30c8\u3084\u5909\u6570\u540d\u304b\u3089\u4f55\u306e\u5024\u304c\u3069\u3046\u3044\u3046\u5358\u4f4d\u6b21\u5143\u3067\u53ce\u5bb9\u3055\u308c\u3066\u3044\u308b\u304b\u5206\u304b\u308b 1 2 3 4 5 6 7 8 \u2026 % Desired position of a leg [m] motion_planning_param . des_leg_pos = \u2026 % Period for crawl gait [s] gait_parameter . T = \u2026 % Grippable points [m] surface_param . grippable_points = ... ... 5. \u65b0\u3057\u3044\u6a5f\u80fd\u306e\u5b9f\u88c5\u5f8c\u306f\uff0c\u5fc5\u305a\u7e70\u308a\u8fd4\u3057\u30c6\u30b9\u30c8\u3092\u304a\u3053\u306a\u3046 \u65b0\u3057\u3044\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u5f8c\u306f\uff0c\u30d1\u30e9\u30e1\u30fc\u30bf\u3084\u8a2d\u5b9a\u3092\u5909\u3048\u3066\u30c6\u30b9\u30c8\u3092\u7e70\u308a\u8fd4\u3057\uff0c\u30d0\u30b0\u304c\u767a\u751f\u3057\u306a\u3044\u3053\u3068\u3092\u78ba\u304b\u3081\u3066\u304b\u3089\u4e0a\u7d1a\u751f\u306bReview\u3092\u304a\u9858\u3044\u3059\u308b\uff0e 6. \u65b0\u3057\u3044\u6a5f\u80fd\u306e\u5b9f\u88c5\u5f8c\u306f\uff0c\u65e2\u5b58\u306epreset\u3067\u3082\u5b9f\u884c\u3057\uff0c\u554f\u984c\u304c\u306a\u3044\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b \u65b0\u305f\u306a\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u3053\u3068\u3067\uff0c\u3053\u308c\u307e\u306epreset\u304c\u56de\u3089\u306a\u304f\u306a\u3063\u305f\u308a\uff0c\u4ed6\u306e\u958b\u767a\u8005\u306e\u958b\u767a\u74b0\u5883\u3068\u5e72\u6e09\u3059\u308b\u6050\u308c\u304c\u3042\u308b\u305f\u3081\uff0cconfig\u8a2d\u5b9a\u3092\u65e2\u5b58\u306epreset\u306b\u3057\u3066\u5168\u3066\u306epreset\u3092\u5b9f\u884c\u3057\uff0c\u554f\u984c\u306a\u304f\u5b9f\u884c\u3055\u308c\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b\uff0e 7. \u95a2\u6570\u3092\u6d88\u3055\u306a\u3044 \u3069\u3093\u306a\u95a2\u6570\u3067\u3042\u308c\uff0c\u3080\u3084\u307f\u306b\u524a\u9664\u3057\u306a\u3044\uff0e\u65b0\u305f\u306a\u6a5f\u80fd\u306b\u3088\u3063\u3066\uff0c\u6b69\u884c\u304c\u5b89\u5b9a\u3057\u305f\u308a\u901f\u304f\u306a\u3063\u305f\u308a\u3059\u308b\u3088\u3046\u306a\u4f55\u304b\u7d50\u679c\u304c\u3088\u304f\u306a\u308b\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u3068\u3057\u3066\u3082\uff0c\u524d\u307e\u3067\u3042\u3063\u305f\u95a2\u6570\u306f\u7d76\u5bfe\u306b\u524a\u9664\u3057\u306a\u3044\uff0e\u65e2\u5b58\u306e\u95a2\u6570\u306f\uff0c\u3053\u308c\u307e\u3067\u306e\u8ca1\u7523\u3067\u3042\u308a\uff0c\u78ba\u5b9f\u306b\u3053\u308c\u307e\u3067\u7a3c\u52d5\u3057\u3066\u3044\u305f\u3068\u3044\u3046\u70b9\u3067\u975e\u5e38\u306b\u6709\u7528\u306a\u3082\u306e\u3067\u3042\u308b\uff0e\u624b\u6cd5\u306e\u6bd4\u8f03\u3092\u304a\u3053\u306a\u3046\u969b\u3084\uff0c\u307e\u305f\u30b7\u30f3\u30d7\u30eb\u306a\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306e\u65b9\u304c\u7406\u89e3\u3057\u3084\u3059\u3044\u3068\u3044\u3046\u70b9\u3067\u597d\u307e\u308c\uff0c\u5fc5\u8981\u3068\u3055\u308c\u308b\u5834\u5408\u3082\u3042\u308b\uff0e\u305d\u308c\u307e\u3067\u306e\u95a2\u6570\u3092\u524a\u9664\u30fb\u66f4\u65b0\u3059\u308b\u306e\u3067\u306f\u306a\u304f\uff0c\u65b0\u305f\u306a\u6a5f\u80fd\u30fb\u30b1\u30fc\u30b9\u3092\u8ffd\u52a0\u3059\u308b\u3068\u3044\u3046\u70b9\u3092\u610f\u8b58\u3057\uff0c\u65e2\u5b58\u306e\u95a2\u6570\u30fb\u65b0\u305f\u306a\u6a5f\u80fd\u306e\u4e21\u65b9\u304c\u6271\u3048\u308b\u3088\u3046\u306b\u958b\u767a\u3092\u9032\u3081\u308b\uff0e 8. \u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u3082\u540c\u6642\u9032\u884c\u3067\u958b\u767a\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u5fd8\u308c\u306a\u3044 ClimbLab\u306f\u5e38\u306b\u8907\u6570\u540d\u304c\u540c\u6642\u306b\u958b\u767a\u3092\u3059\u3059\u3081\u3066\u3044\u308b\uff0e\u305d\u306e\u305f\u3081\uff0c\u81ea\u5206\u304c\u958b\u767a\u3092\u3057\u3066\u3044\u308b\u9593\u306b\uff0c\u8ab0\u304b\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u304c\u958b\u767a\u3092\u7d42\u308f\u3089\u305b\u3066\u65b0\u6a5f\u80fd\u3092\u5b9f\u88c5\u3059\u308b\u3053\u3068\u304c\u3088\u304f\u767a\u751f\u3059\u308b\uff0e\u3053\u306e\u969b\uff0cdevelop\u30d6\u30e9\u30f3\u30c1\u306erebase\u3092\u5e38\u306b\u304a\u3053\u306a\u3046\u3053\u3068\uff0e\u81ea\u5206\u304c\u958b\u767a\u6bb5\u968e\u3067\u63a1\u7528\u3057\u3066\u3044\u305f\u95a2\u6570\u304c\uff0c\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306e\u5b9f\u88c5\u306b\u3088\u3063\u3066\u4e00\u90e8\u5909\u66f4\u3055\u308c\u3066\u3044\u308b\u53ef\u80fd\u6027\u304c\u3042\u308b\u305f\u3081\uff0c\u5e38\u306b\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306e\u958b\u767a\u72b6\u6cc1\u306b\u3064\u3044\u3066\u628a\u63e1\u3059\u308b\uff0e\u4e00\u65b9\u3067\uff0c\u5f53\u7136\uff0c\u81ea\u5206\u306e\u5b9f\u88c5\u304c\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306b\u3082\u5f71\u97ff\u3092\u4e0e\u3048\u308b\u305f\u3081\uff0c\u5e38\u306b\u5831\u544a\u30fb\u9023\u7d61\u30fb\u76f8\u8ac7\u3092\u5fd8\u308c\u306a\u3044\uff0e 9. \u81ea\u5206\u306e\u304a\u3053\u306a\u3063\u305f\u5909\u66f4\u70b9\u3092\u308f\u304b\u308a\u3084\u3059\u304f\u30e1\u30f3\u30d0\u30fc\u306b\u5171\u6709\u3059\u308b \u4e0a\u3067\u3082\u8ff0\u3079\u305f\u3068\u304a\u308a\uff0c\u81ea\u5206\u306e\u5b9f\u88c5\u306f\u4ed6\u4eba\u306e\u958b\u767a\u306b\u5f71\u97ff\u3092\u4e0e\u3048\u308b\uff0e\u305d\u306e\u305f\u3081\uff0c\u4f55\u304b\u65b0\u3057\u3044\u6a5f\u80fd\u306e\u958b\u767a\u3092\u7d42\u3048\u305f\u3089\uff0c\u305d\u306e\u5b9f\u88c5\u306b\u3088\u3063\u3066\u3069\u3093\u306a\u70b9\u304c\u5909\u66f4\u3055\u308c\u305f\u306e\u304b\u3092\uff0c\u305d\u306e\u4f5c\u696d\u306e\u5f53\u4e8b\u8005\u3067\u306f\u306a\u3044\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u9054\u306b\u3082\u308f\u304b\u308a\u3084\u3059\u304f\u5171\u6709\u3059\u308b\uff0e 10. \u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u3068\u7591\u554f\u70b9\u30fb\u554f\u984c\u70b9\u3092\u5171\u6709\u3059\u308b \u540c\u3058\u7591\u554f\u3092\u4ed6\u306e\u958b\u767a\u30e1\u30f3\u30d0\u30fc\u3082\u62b1\u3044\u3066\u3044\u305f\u308a\uff0c\u3082\u3057\u304f\u306f\u3059\u3067\u306b\u89e3\u6c7a\u3057\u305f\u7d4c\u9a13\u304c\u3042\u308b\u304b\u3082\u3057\u308c\u306a\u3044\uff0e\u307e\u305f\u306f\uff0c\u305d\u306e\u554f\u984c\u3092\u89e3\u6c7a\u3059\u308b\u3088\u3046\u306a\u6a5f\u80fd\u3092\u65b0\u305f\u306b\u5225\u306e\u30e1\u30f3\u30d0\u30fc\u304c\u5b9f\u88c5\u3057\u3066\u304f\u308c\u308b\u304b\u3082\u3057\u308c\u306a\u3044\uff0e 11. \u898b\u3064\u3051\u305f\u30d0\u30b0\u3092\u5831\u544a\u3059\u308b \u958b\u767a\u4e2d\u306b\u30d0\u30b0\u3092\u898b\u3064\u3051\u305f\u3089\uff0c\u307f\u3093\u306a\u306b\u5171\u6709\u3059\u308b\u3053\u3068\uff0e\u3059\u3067\u306b\u89e3\u6c7a\u3057\u305f\u3068\u601d\u308f\u308c\u3066\u3044\u305f\u30d0\u30b0\u306e\u767a\u898b\u3084\u81f4\u547d\u7684\u306a\u6b20\u9665\u304c\u3042\u308b\u307e\u307e\u958b\u767a\u3092\u9032\u3081\u306a\u3044\u3088\u3046\u306b\uff0c\u3059\u3050\u306b\u82bd\u3092\u3064\u3080\uff0e","title":"6 development policy"},{"location":"6_development_policy/#6-development-policy","text":"\u672c\u7ae0\u3067\u306fClimbLab\u3092\u4f7f\u3063\u3066\u958b\u767a\u3092\u304a\u3053\u306a\u3046\u5834\u5408\u306e\u6ce8\u610f\u70b9\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e \u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u6210\u3057\u305f\u308a\u6a5f\u80fd\u3092\u8ffd\u52a0\u3059\u308b\u5834\u5408\u306f\uff0c\u6b21\u306e\u53d6\u308a\u6c7a\u3081\u3092\u5b88\u3063\u3066\u304a\u3053\u306a\u3046\uff0e\u57fa\u672c\u7684\u306a\u30b3\u30f3\u30bb\u30d7\u30c8\u3068\u3057\u3066\uff0c\u30b7\u30f3\u30d7\u30eb\uff0c\u304b\u3064\u4eca\u5f8c\u3082\u958b\u767a\u3092\u7d9a\u3051\u3084\u3059\u3044\u3088\u3046\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u306e\u30d5\u30a9\u30fc\u30de\u30c3\u30c8\u3092\u5b88\u308a\uff0c\u304b\u3064\u8ab0\u304c\u8aad\u3093\u3067\u3082\u8aad\u307f\u3084\u3059\u304f\u7406\u89e3\u3057\u3084\u3059\u3044\u3088\u3046\u306b\u66f8\u304f\u3053\u3068\u3092\u5fc3\u304c\u3051\u308b\uff0e \u3000\u3053\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u306e\u7406\u5ff5\u3092\u5b88\u308b\u3053\u3068\u306f\u975e\u5e38\u306b\u91cd\u8981\u3067\u3042\u308a\uff0c\u305d\u306e\u305f\u3081\u306b\u91cd\u8981\u306a\u3053\u3068\u3068\u3057\u3066\uff0c\u65e2\u5b58\u306e main_sim \u4ee5\u5916\u306e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u7528Main\u95a2\u6570\u306f\u4f5c\u6210\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u305f\u308b\u6240\u4ee5\u306f\uff0c\u300c1\u3064\u306e\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u3067\u591a\u69d8\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u53ef\u80fd\u3067\u3042\u308b\u300d\u3053\u3068\u306b\u3042\u308b\u305f\u3081\uff0c\u305d\u306e\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u3092\u5897\u3084\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u305d\u306e\u305f\u3081\uff0c\u65b0\u305f\u306a\u95a2\u6570\u3084\u6a5f\u80fd\u3092\u4f5c\u6210\u3059\u308b\u5834\u5408\u3082\uff0c\u65e2\u5b58\u306e main_sim \u306b\u7d44\u307f\u8fbc\u3080\u5f62\u3067\u5fc5\u305a\u5b9f\u88c5\u3059\u308b\uff0e \u65b0\u3057\u3044\u6a5f\u80fd\u3092\u691c\u8a3c\u3057\u306a\u304c\u3089\u5b9f\u88c5\u3059\u308b\u969b\uff0c\u6b21\u306e\u70b9\u306b\u6ce8\u610f\u3059\u308b\u3068\u958b\u767a\u304c\u30b9\u30e0\u30fc\u30ba\u306b\u9032\u3080\u305f\u3081\uff0c\u5fc5\u8981\u3067\u306f\u306a\u3044\u8a2d\u5b9a\u306foff\u306b\u3059\u308b\u3068\u3088\u3044\uff0e * dynamics\u304c\u5fc5\u8981\u3067\u306a\u3044\u5834\u5408\u306f\uff0cdynamics\u3092off\u306b\u3059\u308b * \u6b69\u884c\u3059\u308b\u5fc5\u8981\u304c\u306a\u3044\u5834\u5408\uff0cgait type\u3092\u2019do_nothing\u2019\u306b\u3059\u308b * \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u4f55\u79d2\u3082\u56de\u3059\u5fc5\u8981\u304c\u306a\u3044\u5834\u5408\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u6700\u5927\u6642\u9593\u30920\u79d2\u306b\u3059\u308b\uff0e \u307e\u305f\uff0c\u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u308b\u5834\u5408\u306e\u95a2\u6570\u306e\u7f6e\u304d\u5834\u6240\u306b\u3064\u3044\u3066\u306f\uff0c4\u7ae0\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3092\u53c2\u8003\u306b\uff0c\u5171\u901a\u3057\u305f\u5f79\u5272\u3067\u304f\u304f\u3089\u308c\u308b\u9069\u5207\u306a\u30d5\u30a9\u30eb\u30c0\u306b\u7f6e\u304f\uff0e \u305d\u306e\u6642\u306e\uff0c\u95a2\u6570\u306e\u547d\u540d\u65b9\u6cd5\u306b\u3064\u3044\u3066\u4ee5\u4e0b\u306e\u70b9\u306b\u6ce8\u610f\u3059\u308b\uff0e \u30b9\u30cd\u30fc\u30af\u30b1\u30fc\u30b9\u3092\u7528\u3044\u308b \u2715 updGiaCalculation.m \u3007 upd_gia_calulation.m \u95a2\u6570\u540d\u306b\u5927\u6587\u5b57\u306f\u4f7f\u308f\u306a\u3044 \u2715 upd_GIA_calculation.m \u3007 upd_gia_calculation.m \u95a2\u6570\u306e\u63a5\u982d\u8f9e\u3092\uff0c\u6b21\u306e\u65e2\u5b58\u306e\u95a2\u6570\u306e\u547d\u540d\u65b9\u6cd5\u306b\u306e\u3063\u3068\u3063\u3066\u63a1\u7528\u3059\u308b config_: 2.4\u7bc0\u53c2\u7167\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u8a2d\u5b9a\u306b\u95a2\u308f\u308b\u95a2\u6570\uff0e ini_: 2.5\u7bc0\u53c2\u7167\uff0e\u30ed\u30dc\u30c3\u30c8\u3084\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u306e\u521d\u671f\u8a2d\u5b9a\u306b\u95a2\u308f\u308b\u95a2\u6570 upd_: 2.6\u7bc0\u53c2\u7167\uff0e\u30eb\u30fc\u30d7\u5185\u3067\uff0c\u6b69\u5bb9\u3084\u5236\u5fa1\u30fb\u529b\u5b66\u306b\u95a2\u308f\u308b\u95a2\u6570 vis_: 2.7\u7bc0\u53c2\u7167\uff0e\u56f3\u306e\u63cf\u753b\u306b\u95a2\u308f\u308b\u95a2\u6570 sav_: 2.8\u7bc0\u53c2\u7167\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5c65\u6b74\u306e\u4fdd\u5b58\u306b\u95a2\u308f\u308b\u95a2\u6570 main_ : 3\u7ae0\u53c2\u7167\uff0e\u5358\u4f53\u3067\u5b9f\u884c\u3057\u3066climblab\u306e\u958b\u767a\u306b\u6709\u7528\u306a\u95a2\u6570\u306b\u4ed8\u3051\u308b \u95a2\u6570\u306e\u540d\u524d\u306f\u3069\u3093\u306a\u306b\u9577\u304f\u306a\u3063\u3066\u3082\u69cb\u308f\u306a\u3044\u306e\u3067\uff0c\u305d\u306e\u95a2\u6570\u304c\u3069\u3046\u3044\u3046\u6a5f\u80fd\u3092\u6709\u3057\u3066\u3044\u308b\u306e\u304b\u5206\u304b\u308b\u3088\u3046\u306b\u66f8\u304f\uff0e \u4e0a\u8a18\u306e\u30eb\u30fc\u30eb\u306b\u306e\u3063\u3068\u3063\u3066\u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u6210\u3057\u305f\u5f8c\u306e\uff0c\u5177\u4f53\u7684\u306a\u30b3\u30fc\u30c9\u306e\u8a18\u8ff0\u30eb\u30fc\u30eb\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0e\u4ee5\u964d\u306e\u5185\u5bb9\u306f\u65b0\u305f\u306a\u6a5f\u80fd\u306e\u5b9f\u88c5\u306e\u969b\u306b\u3082\u5171\u901a\u3059\u308b\u6ce8\u610f\u4e8b\u9805\u3067\u3042\u308b\uff0e","title":"6. Development Policy"},{"location":"6_development_policy/#1","text":"\u3053\u306e\u5192\u982d\u306e\u8a18\u8ff0\u3092\u8aad\u3080\u3060\u3051\u3067\uff0c\u305d\u306e\u95a2\u6570\u306e\u304a\u304a\u307e\u304b\u306a\u6a5f\u80fd\u304c\u628a\u63e1\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\uff0e \u8a18\u8ff0\u3059\u308b\u9805\u76ee\u306f\uff0c \u95a2\u6570\u306e\u304f\u304f\u308a(configuration/update/visualize/save/main) \u95a2\u6570\u540d \u95a2\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u4f5c\u6210\u65e5\u6642 \u4f5c\u6210\u8005 \u6700\u7d42\u7de8\u96c6\u65e5\u6642 \u6700\u7d42\u7de8\u96c6\u8005 \u95a2\u6570\u306e\u8a73\u7d30\u306a\u8aac\u660e \u51fa\u529b\u5909\u6570\u306e\u4e00\u89a7\u3068\uff0c\u5404\u5909\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u5165\u529b\u5909\u6570\u306e\u4e00\u89a7\u3068\uff0c\u5404\u5909\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u3067\u3042\u308b\uff0e\u4ee5\u4e0b\u306b\u8a18\u8ff0\u4f8b\u3092\u793a\u3059\uff0e 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 %%%%%% Configuration %%%%%% config_save_settings %%%%%% %%%%%% Configure default saving settings %%%%%% %%%%%% Created 2020 - 07 - 08 %%%%%% Warley Ribeiro %%%%%% Last update : 2021 - 03 - 31 %%%%%% Keigo Haji % % % Load default configurations for saving % % Function variables : % % OUTPUT % save_settings : Data saving settings ( struct ) % INPUT % -","title":"1. \u65b0\u3057\u3044\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u306e\u5192\u982d\u306b\u305d\u306e\u95a2\u6570\u306e\u4ed5\u69d8\u306b\u3064\u3044\u3066\u660e\u78ba\u306b\u8a18\u8f09\u3059\u308b\uff0e"},{"location":"6_development_policy/#2-main_simmain_sim","text":"\u3053\u308c\u306f\uff0cClimbLab\u304c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u6a5f\u80fd\u3057\u3066\u3044\u304f\u305f\u3081\u306bmain_sim\u306e\u4e00\u822c\u6027\u3092\u62c5\u4fdd\u3059\u308b\u305f\u3081\u3067\u3042\u308b\uff0e\u307e\u305f\uff0c\u540c\u6642\u306bmain_sim\u3092\u8907\u6570\u4eba\u304c\u7de8\u96c6\u3059\u308b\u3068Git\u306emerge\u306e\u969b\u306bconflict\u304c\u767a\u751f\u3057\u3084\u3059\u304f\u306a\u308b\u306e\u3067\uff0c\u305d\u306e\u554f\u984c\u3092\u907f\u3051\u308b\u3068\u3044\u3046\u76ee\u7684\u3082\u3042\u308b\uff0e \u60aa\u3044\u4f8b\uff09main_sim\u5185\u306b\u76f4\u63a5\u5b9f\u88c5 1 2 3 4 5 6 7 8 9 10 MAIN_FILE . m ... disp ( time ); if gait_param . type = \u2018 new_gait \u2019 new_gait ( ... ) else path_planning_param = upd_path_planning ( ... ); end [ motion_planning_param , des_SV ] = upd_motion_planning ( ... ); ... \u826f\u3044\u4f8b\uff09main_sim\u306f\u305d\u306e\u307e\u307e\u306b\uff0cupd\u95a2\u6570\u5185\u3067\u5834\u5408\u5206\u3051\u3092\u304a\u3053\u306a\u3063\u3066\u3044\u308b 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 MAIN_FILE . m ... disp ( time ); path_planning_param = upd_path_planning ( ... ); [ motion_planning_param , des_SV ] = upd_motion_planning ( ... ); ... FUNCTION_FILE . m function path_planning_param = upd_path_planning ( ... ) switch gait_param . type case \u2018 new_gait \u2019 new_gait ( ... ); case \u2018 old_gait \u2019 ...","title":"2. \u3080\u3084\u307f\u306bmain_sim\u5185\u306b\u65b0\u305f\u306a\u95a2\u6570\u306e\u8a18\u8ff0\u3092\u5897\u3084\u3055\u305a\uff0cmain_sim\u5185\u3067\u5b9f\u884c\u3055\u308c\u3066\u3044\u308b\u65e2\u5b58\u306e\u95a2\u6570\u5185\u306b\u7d44\u307f\u8fbc\u3080\u5f62\u3067\u65b0\u305f\u306a\u6a5f\u80fd\u3092\u5b9f\u88c5\u3059\u308b\uff0e"},{"location":"6_development_policy/#3-class","text":"\u5927\u91cf\u306e\u30ed\u30fc\u30ab\u30eb\u5909\u6570\u3092\u95a2\u6570\u5185\u3067\u306a\u308b\u3079\u304f\u6271\u308f\u306a\u3044\u3088\u3046\u306b\u3059\u308b\uff0e\u3053\u308c\u306fMATLAB\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u5185\u3067\u306e\u5909\u6570\u306e\u628a\u63e1\u304c\u96e3\u3057\u304f\u306a\u308b\u305f\u3081\u3067\u3042\u308b\uff0e\u5909\u6570\u306e\"\u304f\u304f\u308a\"\u3092\u8003\u3048\u3066\uff0c\u65e2\u5b58\u306eclass\u306b\u3042\u3066\u306f\u307e\u308b\u5834\u5408\u306f\u65e2\u5b58\u306eclass( gait_planning_param , motion_planning_param \u7b49)\u306b\u53ce\u5bb9\u3057\uff0c\u306a\u3044\u5834\u5408\u306f\u81ea\u5206\u306e\u6a5f\u80fd\u306b\u3042\u3063\u305f\u65b0\u305f\u306aclass\u3092\u4f5c\u6210\u3059\u308b\u3053\u3068\uff0e \u60aa\u3044\u4f8b\uff09local\u5909\u6570\u304c\u591a\u3044\uff0e 1 2 3 4 5 6 7 8 ... leg1_des_pos = \u2026 leg2_des_pos = \u2026 leg3_des_pos = \u2026 leg4_des_pos = \u2026 base_des_pos = ... generate_trajectory ( leg1_des_pos , leg2_des_pos , leg3_des_pos , leg4_des_pos , base_des_pos ); ... \u3044\u3044\u4f8b\uff09\u5909\u6570\u304cclass\u306b\u5206\u985e\u3055\u308c\u3066\u3044\u308b 1 2 3 4 5 ... path_planning_param . leg_des_pos = \u2026 path_planning_param . base_des_pos = \u2026 generate_trajectory ( path_planning_param ); ...","title":"3. \u5909\u6570\u306f\u306a\u308b\u3079\u304fclass\u306b\u53ce\u5bb9\u3059\u308b"},{"location":"6_development_policy/#4","text":"\u5909\u6570\u540d\u306f\u3069\u3093\u306a\u306b\u9577\u304f\u306a\u3063\u3066\u3082\u3044\u3044\u306e\u3067\uff0c\u8ab0\u306b\u3067\u3082\u308f\u304b\u308b\u3088\u3046\u306b\u4ed8\u3051\u308b\uff0e\u5909\u6570\u540d\u306e\u4ed8\u3051\u65b9\u306f\u95a2\u6570\u3068\u540c\u3058\u304f\uff0csnake_case\u3067\u7d71\u4e00\u3057\uff0ccamelCase\u306f\u4f7f\u308f\u306a\u3044\uff0e\u307e\u305f\uff0c\u305d\u306e\u5909\u6570\u304c\u3069\u3046\u3044\u3046\u5024\u3092\u53ce\u5bb9\u3057\uff0c\u305d\u306e\u5358\u4f4d(\u6b21\u5143)\u306f\u306a\u3093\u306a\u306e\u304b\u3092\u30b3\u30e1\u30f3\u30c8\u3067\u660e\u8a18\u3059\u308b\uff0e \u60aa\u3044\u4f8b\uff09\u4eba\u304c\u8aad\u3093\u3067\u3082\u4f55\u306e\u7565\u79f0\u304b\u308f\u304b\u3089\u306a\u3044 1 2 3 4 5 ... L1 = \u2026 WP . T = \u2026 GPM = ... ... \u3044\u3044\u4f8b\uff09\u30b3\u30e1\u30f3\u30c8\u3084\u5909\u6570\u540d\u304b\u3089\u4f55\u306e\u5024\u304c\u3069\u3046\u3044\u3046\u5358\u4f4d\u6b21\u5143\u3067\u53ce\u5bb9\u3055\u308c\u3066\u3044\u308b\u304b\u5206\u304b\u308b 1 2 3 4 5 6 7 8 \u2026 % Desired position of a leg [m] motion_planning_param . des_leg_pos = \u2026 % Period for crawl gait [s] gait_parameter . T = \u2026 % Grippable points [m] surface_param . grippable_points = ... ...","title":"4. \u5909\u6570\u540d\u3092\u308f\u304b\u308a\u3084\u3059\u304f\u3064\u3051\u308b"},{"location":"6_development_policy/#5","text":"\u65b0\u3057\u3044\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u5f8c\u306f\uff0c\u30d1\u30e9\u30e1\u30fc\u30bf\u3084\u8a2d\u5b9a\u3092\u5909\u3048\u3066\u30c6\u30b9\u30c8\u3092\u7e70\u308a\u8fd4\u3057\uff0c\u30d0\u30b0\u304c\u767a\u751f\u3057\u306a\u3044\u3053\u3068\u3092\u78ba\u304b\u3081\u3066\u304b\u3089\u4e0a\u7d1a\u751f\u306bReview\u3092\u304a\u9858\u3044\u3059\u308b\uff0e","title":"5. \u65b0\u3057\u3044\u6a5f\u80fd\u306e\u5b9f\u88c5\u5f8c\u306f\uff0c\u5fc5\u305a\u7e70\u308a\u8fd4\u3057\u30c6\u30b9\u30c8\u3092\u304a\u3053\u306a\u3046"},{"location":"6_development_policy/#6-preset","text":"\u65b0\u305f\u306a\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u3053\u3068\u3067\uff0c\u3053\u308c\u307e\u306epreset\u304c\u56de\u3089\u306a\u304f\u306a\u3063\u305f\u308a\uff0c\u4ed6\u306e\u958b\u767a\u8005\u306e\u958b\u767a\u74b0\u5883\u3068\u5e72\u6e09\u3059\u308b\u6050\u308c\u304c\u3042\u308b\u305f\u3081\uff0cconfig\u8a2d\u5b9a\u3092\u65e2\u5b58\u306epreset\u306b\u3057\u3066\u5168\u3066\u306epreset\u3092\u5b9f\u884c\u3057\uff0c\u554f\u984c\u306a\u304f\u5b9f\u884c\u3055\u308c\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b\uff0e","title":"6. \u65b0\u3057\u3044\u6a5f\u80fd\u306e\u5b9f\u88c5\u5f8c\u306f\uff0c\u65e2\u5b58\u306epreset\u3067\u3082\u5b9f\u884c\u3057\uff0c\u554f\u984c\u304c\u306a\u3044\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b"},{"location":"6_development_policy/#7","text":"\u3069\u3093\u306a\u95a2\u6570\u3067\u3042\u308c\uff0c\u3080\u3084\u307f\u306b\u524a\u9664\u3057\u306a\u3044\uff0e\u65b0\u305f\u306a\u6a5f\u80fd\u306b\u3088\u3063\u3066\uff0c\u6b69\u884c\u304c\u5b89\u5b9a\u3057\u305f\u308a\u901f\u304f\u306a\u3063\u305f\u308a\u3059\u308b\u3088\u3046\u306a\u4f55\u304b\u7d50\u679c\u304c\u3088\u304f\u306a\u308b\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u3068\u3057\u3066\u3082\uff0c\u524d\u307e\u3067\u3042\u3063\u305f\u95a2\u6570\u306f\u7d76\u5bfe\u306b\u524a\u9664\u3057\u306a\u3044\uff0e\u65e2\u5b58\u306e\u95a2\u6570\u306f\uff0c\u3053\u308c\u307e\u3067\u306e\u8ca1\u7523\u3067\u3042\u308a\uff0c\u78ba\u5b9f\u306b\u3053\u308c\u307e\u3067\u7a3c\u52d5\u3057\u3066\u3044\u305f\u3068\u3044\u3046\u70b9\u3067\u975e\u5e38\u306b\u6709\u7528\u306a\u3082\u306e\u3067\u3042\u308b\uff0e\u624b\u6cd5\u306e\u6bd4\u8f03\u3092\u304a\u3053\u306a\u3046\u969b\u3084\uff0c\u307e\u305f\u30b7\u30f3\u30d7\u30eb\u306a\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306e\u65b9\u304c\u7406\u89e3\u3057\u3084\u3059\u3044\u3068\u3044\u3046\u70b9\u3067\u597d\u307e\u308c\uff0c\u5fc5\u8981\u3068\u3055\u308c\u308b\u5834\u5408\u3082\u3042\u308b\uff0e\u305d\u308c\u307e\u3067\u306e\u95a2\u6570\u3092\u524a\u9664\u30fb\u66f4\u65b0\u3059\u308b\u306e\u3067\u306f\u306a\u304f\uff0c\u65b0\u305f\u306a\u6a5f\u80fd\u30fb\u30b1\u30fc\u30b9\u3092\u8ffd\u52a0\u3059\u308b\u3068\u3044\u3046\u70b9\u3092\u610f\u8b58\u3057\uff0c\u65e2\u5b58\u306e\u95a2\u6570\u30fb\u65b0\u305f\u306a\u6a5f\u80fd\u306e\u4e21\u65b9\u304c\u6271\u3048\u308b\u3088\u3046\u306b\u958b\u767a\u3092\u9032\u3081\u308b\uff0e","title":"7. \u95a2\u6570\u3092\u6d88\u3055\u306a\u3044"},{"location":"6_development_policy/#8","text":"ClimbLab\u306f\u5e38\u306b\u8907\u6570\u540d\u304c\u540c\u6642\u306b\u958b\u767a\u3092\u3059\u3059\u3081\u3066\u3044\u308b\uff0e\u305d\u306e\u305f\u3081\uff0c\u81ea\u5206\u304c\u958b\u767a\u3092\u3057\u3066\u3044\u308b\u9593\u306b\uff0c\u8ab0\u304b\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u304c\u958b\u767a\u3092\u7d42\u308f\u3089\u305b\u3066\u65b0\u6a5f\u80fd\u3092\u5b9f\u88c5\u3059\u308b\u3053\u3068\u304c\u3088\u304f\u767a\u751f\u3059\u308b\uff0e\u3053\u306e\u969b\uff0cdevelop\u30d6\u30e9\u30f3\u30c1\u306erebase\u3092\u5e38\u306b\u304a\u3053\u306a\u3046\u3053\u3068\uff0e\u81ea\u5206\u304c\u958b\u767a\u6bb5\u968e\u3067\u63a1\u7528\u3057\u3066\u3044\u305f\u95a2\u6570\u304c\uff0c\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306e\u5b9f\u88c5\u306b\u3088\u3063\u3066\u4e00\u90e8\u5909\u66f4\u3055\u308c\u3066\u3044\u308b\u53ef\u80fd\u6027\u304c\u3042\u308b\u305f\u3081\uff0c\u5e38\u306b\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306e\u958b\u767a\u72b6\u6cc1\u306b\u3064\u3044\u3066\u628a\u63e1\u3059\u308b\uff0e\u4e00\u65b9\u3067\uff0c\u5f53\u7136\uff0c\u81ea\u5206\u306e\u5b9f\u88c5\u304c\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306b\u3082\u5f71\u97ff\u3092\u4e0e\u3048\u308b\u305f\u3081\uff0c\u5e38\u306b\u5831\u544a\u30fb\u9023\u7d61\u30fb\u76f8\u8ac7\u3092\u5fd8\u308c\u306a\u3044\uff0e","title":"8. \u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u3082\u540c\u6642\u9032\u884c\u3067\u958b\u767a\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u5fd8\u308c\u306a\u3044"},{"location":"6_development_policy/#9","text":"\u4e0a\u3067\u3082\u8ff0\u3079\u305f\u3068\u304a\u308a\uff0c\u81ea\u5206\u306e\u5b9f\u88c5\u306f\u4ed6\u4eba\u306e\u958b\u767a\u306b\u5f71\u97ff\u3092\u4e0e\u3048\u308b\uff0e\u305d\u306e\u305f\u3081\uff0c\u4f55\u304b\u65b0\u3057\u3044\u6a5f\u80fd\u306e\u958b\u767a\u3092\u7d42\u3048\u305f\u3089\uff0c\u305d\u306e\u5b9f\u88c5\u306b\u3088\u3063\u3066\u3069\u3093\u306a\u70b9\u304c\u5909\u66f4\u3055\u308c\u305f\u306e\u304b\u3092\uff0c\u305d\u306e\u4f5c\u696d\u306e\u5f53\u4e8b\u8005\u3067\u306f\u306a\u3044\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u9054\u306b\u3082\u308f\u304b\u308a\u3084\u3059\u304f\u5171\u6709\u3059\u308b\uff0e","title":"9. \u81ea\u5206\u306e\u304a\u3053\u306a\u3063\u305f\u5909\u66f4\u70b9\u3092\u308f\u304b\u308a\u3084\u3059\u304f\u30e1\u30f3\u30d0\u30fc\u306b\u5171\u6709\u3059\u308b"},{"location":"6_development_policy/#10","text":"\u540c\u3058\u7591\u554f\u3092\u4ed6\u306e\u958b\u767a\u30e1\u30f3\u30d0\u30fc\u3082\u62b1\u3044\u3066\u3044\u305f\u308a\uff0c\u3082\u3057\u304f\u306f\u3059\u3067\u306b\u89e3\u6c7a\u3057\u305f\u7d4c\u9a13\u304c\u3042\u308b\u304b\u3082\u3057\u308c\u306a\u3044\uff0e\u307e\u305f\u306f\uff0c\u305d\u306e\u554f\u984c\u3092\u89e3\u6c7a\u3059\u308b\u3088\u3046\u306a\u6a5f\u80fd\u3092\u65b0\u305f\u306b\u5225\u306e\u30e1\u30f3\u30d0\u30fc\u304c\u5b9f\u88c5\u3057\u3066\u304f\u308c\u308b\u304b\u3082\u3057\u308c\u306a\u3044\uff0e","title":"10. \u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u3068\u7591\u554f\u70b9\u30fb\u554f\u984c\u70b9\u3092\u5171\u6709\u3059\u308b"},{"location":"6_development_policy/#11","text":"\u958b\u767a\u4e2d\u306b\u30d0\u30b0\u3092\u898b\u3064\u3051\u305f\u3089\uff0c\u307f\u3093\u306a\u306b\u5171\u6709\u3059\u308b\u3053\u3068\uff0e\u3059\u3067\u306b\u89e3\u6c7a\u3057\u305f\u3068\u601d\u308f\u308c\u3066\u3044\u305f\u30d0\u30b0\u306e\u767a\u898b\u3084\u81f4\u547d\u7684\u306a\u6b20\u9665\u304c\u3042\u308b\u307e\u307e\u958b\u767a\u3092\u9032\u3081\u306a\u3044\u3088\u3046\u306b\uff0c\u3059\u3050\u306b\u82bd\u3092\u3064\u3080\uff0e","title":"11. \u898b\u3064\u3051\u305f\u30d0\u30b0\u3092\u5831\u544a\u3059\u308b"},{"location":"appendix/","text":"Appendix The followings are the representative publications from our team. [1] K.Yoshida: \" The SpaceDyn: a MATLAB toolbox for space and mobile robots ,\" Proc. 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , pp. 1633--1638, 1999. [2] Y. Umetani and K. Yoshida: \"Resolved motion rate control of space manipulators with generalized Jacobian matrix,\" IEEE Transactions on Robotics and Automation , vol. 5, no. 3, pp. 303--314, 1989. [3] K. Yoshida: \"A General Formulation for Under-Actuated Manipulators,\" Proc. 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , pp. 1651--1657, 1997.","title":"Appendix"},{"location":"appendix/#appendix","text":"The followings are the representative publications from our team. [1] K.Yoshida: \" The SpaceDyn: a MATLAB toolbox for space and mobile robots ,\" Proc. 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , pp. 1633--1638, 1999. [2] Y. Umetani and K. Yoshida: \"Resolved motion rate control of space manipulators with generalized Jacobian matrix,\" IEEE Transactions on Robotics and Automation , vol. 5, no. 3, pp. 303--314, 1989. [3] K. Yoshida: \"A General Formulation for Under-Actuated Manipulators,\" Proc. 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , pp. 1651--1657, 1997.","title":"Appendix"},{"location":"basics/","text":".katex img { object-fit: fill; padding: unset; display: block; position: absolute; width: 100%; height: inherit; } Basics for SpaceDyn Equation of motion (EOM) for floating-based system To be added... Generalized Jacobian [2] To be added... Note If you use Genralized Jacobian in an academic context, please put the following citation. [2] Y. Umetani and K. Yoshida, Resolved motion rate control of space manipulators with generalized Jacobian matrix, IEEE Transactions on Robotics and Automation , vol. 5, no. 3, pp. 303--314, 1989. 1 2 3 4 5 6 7 8 9 10 @ARTICLE { generalizedJacobian , author = { Umetani , Y . and Yoshida , K . } , journal = { IEEE Transactions on Robotics and Automation } , title = { Resolved motion rate control of space manipulators with generalized Jacobian matrix } , year = { 1989 } , volume = { 5 } , number = { 3 } , pages = { 303 -- 314 } , doi = { 10.1109 / 70.34766 } } Basic Knowledge for SpaceDyn User We assume the system composed of n+1 bodies and connected by n joints. Let the body 0 be a reference body . Multiple branches can attach on any single body , as far as the system keeps a topological tree configuration. There must be a single joint between two bodies. We call a terminal point or the point of interest such as manipulator hand as endpoint. Each body, except body 0, can have one endpoint at maximum. In this document, the terms body and link are the same. The SpaceDyn allows force/torque input on (i) the centroid of the reference body, (ii) each endpoint, and (iii) each joint. The toolbox computes the position, velocity and acceleration of (1) the centroid of the reference body, (2) the centroid of each body, (3) each endopoint, and (4) each joint. Computation of input force/torque are open to user programming. You can arbitrary decide each joint as either active or passive one. If you give always zero torque, such as \u03c4 0 = 0 \\tau_0 = 0 \u03c4 0 \u200b = 0 , the corresponding joint behaves as a free joint. Or if you give such a torque as: \u03c4 i = \u2212 K q i \u2212 D q \u02d9 i \\tau_i = - K q_i - D \\dot{q}_i \u03c4 i \u200b = \u2212 K q i \u200b \u2212 D q \u02d9 \u200b i \u200b the joint behaves as a passive visco-elastic joint. You can treat even a flexible link, by modeling it as a discrete successive chain of rigid links connected by elastic joints. Of course, you can give any arbitrary control torque determined by your own control law, on all or arbitrary selected joints. We know that the Denavit-Hartenberg (DH) notation is commonly used in the field of manipulator kinematics with the advantage of unique allocation of coordinate systems with minimum parameters, but we know that the DH sometimes locates the coordinate ofitin away from the location of an actual joint. From the dynamics point of view, the angular velocity and the inertia tensor should be defined around the corresponding joint axis or body centroid. We then do NOT use the DH notation but introduce a rule to define the coordinate system with more flexibility. Note We do NOT use the DH notation in SpaceDyn. Our rule locates the origin of the coordinate systems with more flexibility. Our rule locates the origin of the frame on each joint and orients the primary axes so that the inertia tensor should be simpler, but admits three position and three orientation parameters among two successive coordinate systems. For the representation of attitude or orientation, we use 3 by 3 direction cosine matrices. The advantage of direction cosine is (1) singularity free, (2) we can easily defive Roll-Pitch-Yaw angles, Euler angles, or quartanions, and (3) it is easy to find the mathematical relationship with angular velocity. On the other hand, we frequently need Roll-Pitch-Yaw (RPY) replresentation also. For example, in order to express the twisting angles between two coordinate systems, we consider \u03b1 \\alpha \u03b1 (roll) around x x x -axis, \u03b2 \\beta \u03b2 (pitch) around y y y -axis, then \u03b3 \\gamma \u03b3 (yaw) around z z z -axis. Weak points: The SpaceDyn is not good at dealing with kinematic constraints other than joint axes. It is also weak at dealing with the problems in which a contact point is dynamically changing. For those problems, a good user programming is required to model the constraint forces.","title":"Basics"},{"location":"basics/#basics-for-spacedyn","text":"","title":"Basics for SpaceDyn"},{"location":"basics/#equation-of-motion-eom-for-floating-based-system","text":"To be added...","title":"Equation of motion (EOM) for floating-based system"},{"location":"basics/#generalized-jacobian-2","text":"To be added... Note If you use Genralized Jacobian in an academic context, please put the following citation. [2] Y. Umetani and K. Yoshida, Resolved motion rate control of space manipulators with generalized Jacobian matrix, IEEE Transactions on Robotics and Automation , vol. 5, no. 3, pp. 303--314, 1989. 1 2 3 4 5 6 7 8 9 10 @ARTICLE { generalizedJacobian , author = { Umetani , Y . and Yoshida , K . } , journal = { IEEE Transactions on Robotics and Automation } , title = { Resolved motion rate control of space manipulators with generalized Jacobian matrix } , year = { 1989 } , volume = { 5 } , number = { 3 } , pages = { 303 -- 314 } , doi = { 10.1109 / 70.34766 } }","title":"Generalized Jacobian [2]"},{"location":"basics/#basic-knowledge-for-spacedyn-user","text":"We assume the system composed of n+1 bodies and connected by n joints. Let the body 0 be a reference body . Multiple branches can attach on any single body , as far as the system keeps a topological tree configuration. There must be a single joint between two bodies. We call a terminal point or the point of interest such as manipulator hand as endpoint. Each body, except body 0, can have one endpoint at maximum. In this document, the terms body and link are the same. The SpaceDyn allows force/torque input on (i) the centroid of the reference body, (ii) each endpoint, and (iii) each joint. The toolbox computes the position, velocity and acceleration of (1) the centroid of the reference body, (2) the centroid of each body, (3) each endopoint, and (4) each joint. Computation of input force/torque are open to user programming. You can arbitrary decide each joint as either active or passive one. If you give always zero torque, such as \u03c4 0 = 0 \\tau_0 = 0 \u03c4 0 \u200b = 0 , the corresponding joint behaves as a free joint. Or if you give such a torque as: \u03c4 i = \u2212 K q i \u2212 D q \u02d9 i \\tau_i = - K q_i - D \\dot{q}_i \u03c4 i \u200b = \u2212 K q i \u200b \u2212 D q \u02d9 \u200b i \u200b the joint behaves as a passive visco-elastic joint. You can treat even a flexible link, by modeling it as a discrete successive chain of rigid links connected by elastic joints. Of course, you can give any arbitrary control torque determined by your own control law, on all or arbitrary selected joints. We know that the Denavit-Hartenberg (DH) notation is commonly used in the field of manipulator kinematics with the advantage of unique allocation of coordinate systems with minimum parameters, but we know that the DH sometimes locates the coordinate ofitin away from the location of an actual joint. From the dynamics point of view, the angular velocity and the inertia tensor should be defined around the corresponding joint axis or body centroid. We then do NOT use the DH notation but introduce a rule to define the coordinate system with more flexibility. Note We do NOT use the DH notation in SpaceDyn. Our rule locates the origin of the coordinate systems with more flexibility. Our rule locates the origin of the frame on each joint and orients the primary axes so that the inertia tensor should be simpler, but admits three position and three orientation parameters among two successive coordinate systems. For the representation of attitude or orientation, we use 3 by 3 direction cosine matrices. The advantage of direction cosine is (1) singularity free, (2) we can easily defive Roll-Pitch-Yaw angles, Euler angles, or quartanions, and (3) it is easy to find the mathematical relationship with angular velocity. On the other hand, we frequently need Roll-Pitch-Yaw (RPY) replresentation also. For example, in order to express the twisting angles between two coordinate systems, we consider \u03b1 \\alpha \u03b1 (roll) around x x x -axis, \u03b2 \\beta \u03b2 (pitch) around y y y -axis, then \u03b3 \\gamma \u03b3 (yaw) around z z z -axis. Weak points: The SpaceDyn is not good at dealing with kinematic constraints other than joint axes. It is also weak at dealing with the problems in which a contact point is dynamically changing. For those problems, a good user programming is required to model the constraint forces.","title":"Basic Knowledge for SpaceDyn User"},{"location":"c%2B%2B/","text":"3. Other Main Functions \u524d\u7ae0\u3067 main_sim.m \u3068\u305d\u306e\u5185\u90e8\u3067\u5b9f\u884c\u3055\u308c\u308b5\u3064\u306e\u7a2e\u985e\u306e\u95a2\u6570\u306b\u3064\u3044\u3066\u8ff0\u3079\u305f\uff0e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u5b9f\u884c\u306b\u7528\u3089\u308c\u308bMain\u95a2\u6570\u306f main_sim.m \u305f\u3060\u4e00\u3064\u3067\u3042\u308b\uff0e\u305d\u306e\u4ee3\u308f\u308a\u306b\u4f7f\u7528\u3059\u308b\u30e6\u30fc\u30b6\u30fc\u304c\u305d\u308c\u305e\u308cConfiguration\u95a2\u6570\u3092\u72ec\u81ea\u306b\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u3067\u69d8\u3005\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u540c\u6642\u306b\u958b\u767a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\uff0c\u3053\u308c\u304cClimbLab\u304c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3067\u3042\u308b\u6240\u4ee5\u3067\u3042\u308b\uff0e\u3057\u304b\u3057\uff0c main_sim.m \u4ee5\u5916\u306b\u3082\uff0cClimbLab\u306e\u30d5\u30a9\u30eb\u30c0\u5185\u306b\u306f\u5358\u72ec\u3067\u5b9f\u884c\u3067\u304d\u308b\u95a2\u6570\u304c\u5b58\u5728\u3059\u308b\uff0e\u3053\u308c\u3089\u306e\u95a2\u6570\u306b\u306f\u63a5\u982d\u8f9e\u306b main_ \u304c\u4ed8\u3051\u3089\u308c\u3066\u304a\u308a\uff0c\u4ee5\u4e0b\u306e5\u3064\u306eMain\u95a2\u6570\u304c\u5b58\u5728\u3059\u308b\uff0e main_iterative_sim.m main_LP_2D_analysis.m main_LP_3D_analysis.m main_target_detection.m main_iterative_target_detection.m main_grid_map_designer.m \u4e0a\u8a18\u306e5\u3064\u306e\u95a2\u6570\u306e\u5f79\u5272\u306b\u3064\u3044\u3066\u4ee5\u4e0b\u3067\u8aac\u660e\u3059\u308b\uff0e\u306a\u304a\uff0c\u3053\u308c\u3089\u306e\u30d5\u30a1\u30a4\u30eb\u3092\u5b9f\u884c\u3059\u308b\u305f\u3081\u306b\u306f\uff0c\u5b9f\u884c\u3059\u308b\u969b\u306eMATLAB\u306e\u300c\u73fe\u5728\u306e\u30d5\u30a9\u30eb\u30c0\u300d\u3084\uff0cMATLAB\u306e\u30d1\u30b9\u306b\u6ce8\u610f\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e main_iterative_sim.m \u306f\uff0c\u5b87\u91ce\u3089\u306b\u3088\u3063\u3066\u5b9f\u88c5\u3055\u308c\u305f\uff0c\u811a\u578b\u30ed\u30dc\u30c3\u30c8\u306e\u95a2\u7bc0\u914d\u7f6e\u306e\u9055\u3044\u306b\u3088\u308b\u30c8\u30eb\u30af\u6d88\u8cbb\u306e\u6bd4\u8f03\u3092\u304a\u3053\u306a\u3046\u305f\u3081\u306e\u5b9f\u884c\u30b3\u30fc\u30c9\u3067\u3042\u308b\uff0e\u3053\u306e\u30b3\u30fc\u30c9\u5185\u3067\u306f main_sim.m \u306b\u76f8\u5f53\u3059\u308b\u30b3\u30fc\u30c9\u304c\u30eb\u30fc\u30d7\u306b\u3088\u3063\u3066\u7e70\u308a\u8fd4\u3057\u5b9f\u884c\u3055\u308c\u308b\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u308b\uff0e\u30eb\u30fc\u30d7\u5185\u3067\u306f\uff0c\u3042\u308b\u6307\u5b9a\u3057\u305f\u59ff\u52e2\u3067\u4e00\u5b9a\u6642\u9593\u30ed\u30dc\u30c3\u30c8\u306e\u59ff\u52e2\u3092\u4fdd\u3061\uff0c\u305d\u306e\u9593\u306e\u30ed\u30dc\u30c3\u30c8\u306e\u30c8\u30eb\u30af\u6d88\u8cbb\u3092\u8a08\u7b97\u3059\u308b\uff0e\u59ff\u52e2\u3092\u5c11\u3057\u305a\u3064\u79fb\u52d5\u3055\u305b\u306a\u304c\u3089\u30eb\u30fc\u30d7\u3092\u7e70\u308a\u8fd4\u3057\u3066\u691c\u8a3c\u3057\u3066\u3044\u304f\u3053\u3068\u3067\uff0c\u69d8\u3005\u306a\u59ff\u52e2\u306b\u304a\u3051\u308b\u30ed\u30dc\u30c3\u30c8\u306e\u30c8\u30eb\u30af\u6d88\u8cbb\u3092\u5206\u6790\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e main_iterative_sim.m \u306f\uff0c\u30d5\u30a9\u30eb\u30c0 /climblab/src/script \u4e0b\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0e main_LP_2D_analysis.m \u304a\u3088\u3073 main_LP_3D_analysis.m \u306f\u30ed\u30dc\u30c3\u30c8\u306e\u30ea\u30f3\u30af\u30d1\u30e9\u30e1\u30fc\u30bf(LP)\u304b\u3089\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u811a\u5148\u53ef\u52d5\u7bc4\u56f2\u3092\u305d\u308c\u305e\u308c2\u6b21\u5143\u7684\u30683\u6b21\u5143\u7684\u306b\u63cf\u753b\u3059\u308b\u95a2\u6570\u3067\u3042\u308b\uff0e\u30ed\u30dc\u30c3\u30c8\u30e2\u30c7\u30eb\u3092\u30a2\u30c3\u30d7\u30c7\u30fc\u30c8\u3057\u3066\u65b0\u305f\u306a\u30ea\u30f3\u30af\u30d1\u30e9\u30e1\u30fc\u30bf\u3078\u3068\u5909\u66f4\u3059\u308b\u969b\u306a\u3069\u306b\uff0c\u3053\u308c\u3089\u306e\u95a2\u6570\u3092\u4f7f\u3046\u3053\u3068\u3067\u5e83\u3044\u811a\u5148\u53ef\u52d5\u7bc4\u56f2\u3092\u6301\u3064\u30ed\u30dc\u30c3\u30c8\u306e\u8a2d\u8a08\u3092\u9032\u3081\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u3053\u308c\u3089\u306e\u95a2\u6570\u306f\u30d5\u30a9\u30eb\u30c0 /climblab/src/robot/LP_analysis \u4e0b\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0e main_target_detection.m \u306f\uff0c\u5730\u5f62\u60c5\u5831\u30c7\u30fc\u30bf\u306b\u5bfe\u3057\u3066\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u3092\u304a\u3053\u306a\u3046\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u3067\u3042\u308b\uff0e main_sim.m \u5185\u3067\u3082 target_detection.m \u3092\u5b9f\u884c\u3057\u3066\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u3092\u304a\u3053\u306a\u3046\u3053\u3068\u3082\u3067\u304d\u308b\u304c\uff0c\u4e88\u3081\u3053\u306eMain\u95a2\u6570\u3092\u7528\u3044\u3066\uff0c main_sim.m \u5185\u3067\u5b9f\u884c\u3055\u308c\u308b\u30b3\u30fc\u30c9\u3068\u540c\u4e00\u306e\u30b3\u30fc\u30c9\u306b\u3088\u3063\u3066\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u3060\u3051\u3092\u8a66\u884c\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u3053\u306e\u95a2\u6570\u3092\u7528\u3044\u3066\uff0c\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u306e\u7d50\u679c\u3092\u4e88\u3081\u78ba\u304b\u3081\u305f\u308a\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u8abf\u6574\u3057\u305f\u308a\u3059\u308b\u3053\u3068\u3067\uff0c\u5730\u5f62\u5185\u306e\u628a\u6301\u70b9\u306e\u5206\u5e03\u3092\u4e88\u3081\u628a\u63e1\u3057\u3066\u304b\u3089\uff0c\u5b9f\u969b\u306e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u53d6\u308a\u7d44\u3080\u3053\u3068\u304c\u3067\u304d\u308b\uff0e main_target_detection.m \u3067\u306f\uff0cConfiguration\u95a2\u6570\u3068\u3057\u3066\uff0c config_target_detection_testing_param.m \u3092\u8aad\u307f\u8fbc\u3093\u3067\u3044\u308b\u305f\u3081\uff0c\u3053\u306eConfig\u95a2\u6570\u306b\u66f8\u3044\u305f\u306e\u3068\u540c\u3058\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306eConfig\u95a2\u6570\u306b\u3082\u8a18\u8ff0\u3059\u308c\u3070\uff0c\u540c\u3058\u628a\u6301\u53ef\u80fd\u70b9\u306e\u51fa\u529b\u7d50\u679c\u304c main_sim \u3067\u3082\u5f97\u3089\u308c\u308b\u3053\u3068\u306b\u306a\u308b\uff0e\u307e\u305f\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u306f\u51e6\u7406\u306b\u6642\u9593\u304c\u304b\u304b\u308b\u305f\u3081\uff0c\u4f55\u5ea6\u3082\u540c\u3058\u5730\u5f62\u30de\u30c3\u30d7\u3067\u306e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u7e70\u308a\u8fd4\u3057\u3066\u691c\u8a3c\u3059\u308b\u5834\u5408\uff0c\u4e88\u3081 main_target_detection.m \u3092\u5b9f\u884c\u3057\u3066\u5f97\u3089\u308c\u305f\u628a\u6301\u70b9\u306e\u5206\u5e03\u3092\u4fdd\u5b58\u3057\uff0c main_sim.m \u3067\u306f\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3092\u5b9f\u884c\u3059\u308b\u306e\u3067\u306f\u306a\u304f\u4fdd\u5b58\u3057\u305f\u628a\u6301\u70b9\u5206\u5e03\u3092\u8aad\u307f\u8fbc\u3080\u3088\u3046\u306b\u3059\u308c\u3070\uff0c\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u304b\u304b\u308b\u6642\u9593\u3092\u7bc0\u7d04\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e main_target_detection.m \u306f\uff0c\u30d5\u30a9\u30eb\u30c0 /climblab/lib/target_detection \u4e0b\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0e \u307e\u305f\uff0c main_iterative_target_detection.m \u306f\uff0c main_target_detection.m \u3092\u7e70\u308a\u8fd4\u3057\u5b9f\u884c\u3059\u308b\u3088\u3046\u306b\u66f8\u304b\u308c\u305f\u95a2\u6570\u3067\u3042\u308b\uff0e\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u3067\u306f\uff0c\u5730\u5f62\u60c5\u5831\u3092\u30dc\u30af\u30bb\u30eb\u5316\u3057\uff0c\u4e00\u3064\u306e\u5de8\u5927\u306a\u4e09\u6b21\u5143\u914d\u5217\u306b\u5909\u63db\u3059\u308b\uff0e\u305d\u306e\u305f\u3081\uff0c\u9ad8\u4f4e\u5dee\u304c\u6fc0\u3057\u3044\u30de\u30c3\u30d7\u3084\u5965\u884c\u306e\u5e83\u3044\u5730\u5f62\u30de\u30c3\u30d7\u306e\u5834\u5408\uff0c\u4e09\u6b21\u5143\u914d\u5217\u306e\u8981\u7d20\u6570\u304cMATLAB\u3067\u6271\u3048\u308b\u30b5\u30a4\u30ba\u3092\u8d85\u3048\u3066\u3057\u307e\u3044\uff0c\u8a08\u7b97\u3067\u304d\u306a\u304f\u306a\u3063\u3066\u3057\u307e\u3046\uff0e\u3053\u306e\u554f\u984c\u3092\u907f\u3051\u308b\u305f\u3081\u306b\uff0c\u30ed\u30fc\u30c9\u3057\u305f\u5730\u5f62\u60c5\u5831\u3092xy\u65b9\u5411\u306b\u5c0f\u3055\u306a\u300c\u30bb\u30af\u30b7\u30e7\u30f3\u300d\u306b\u5207\u308a\u5206\u3051\uff0c\u5207\u308a\u5206\u3051\u305f\u30bb\u30af\u30b7\u30e7\u30f3\u3092z\u65b9\u5411\u306b\u300c\u30b9\u30c6\u30fc\u30b8\u300d\u3068\u3057\u3066\u3055\u3089\u306b\u5207\u308a\u5206\u3051\u308b\uff0e\u3053\u306e\u5207\u308a\u5206\u3051\u305f\u72ed\u3044\u7bc4\u56f2\u306b\u5bfe\u3057\u3066\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u3092\u304a\u3053\u306a\u3063\u3066\u3044\u304f\u3053\u3068\u3067\uff0c\u5e83\u5927\u306a\u5730\u5f62\u30de\u30c3\u30d7\u306b\u5bfe\u3057\u3066\u3082\u5730\u5f62\u5185\u5168\u4f53\u306e\u628a\u6301\u53ef\u80fd\u70b9\u3092\u4e00\u6c17\u306b\u691c\u51fa\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e \u6700\u5f8c\u306e main_grid_map_designer.m \u306f\uff0c\u683c\u5b50\u72b6\u306b\u628a\u6301\u70b9\u3092\u914d\u7f6e\u3057\u305f\u30b0\u30ea\u30c3\u30c9\u30de\u30c3\u30d7\u3092\u4f5c\u6210\u3059\u308b\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u3067\u3042\u308b\uff0e\u30de\u30c3\u30d7\u306e\u30b5\u30a4\u30ba\u3068\u30b0\u30ea\u30c3\u30c9\u5e45\u3092\u6307\u5b9a\u3059\u308b\u3053\u3068\u3067\uff0c\u30b0\u30ea\u30c3\u30c9\u72b6\u306b\u628a\u6301\u70b9\u3092\u914d\u7f6e\u3057\u3066\u30de\u30c3\u30d7\u3092\u751f\u6210\u3059\u308b\uff0e\u3055\u3089\u306b\uff0c\u6307\u5b9a\u3057\u305f\u5272\u5408\u3060\u3051\u628a\u6301\u70b9\u3092\u30e9\u30f3\u30c0\u30e0\u306b\u9593\u5f15\u3044\u305f\u308a\uff0c\u6307\u5b9a\u3057\u305f\u30a8\u30ea\u30a2\u5185\u306b\u5b58\u5728\u3059\u308b\u628a\u6301\u70b9\u3092\u6d88\u53bb\u3057\u305f\u308a\u3059\u308b\u3053\u3068\u3067\uff0c\u758e\u5bc6\u3055\u3092\u6709\u3059\u308b\u3088\u3046\u306a\u30de\u30c3\u30d7\u3084\u30b4\u30fc\u30eb\u5230\u9054\u306e\u305f\u3081\u306b\u8fc2\u56de\u3092\u8981\u3059\u308b\u3088\u3046\u306a\u30de\u30c3\u30d7\u306a\u3069\u3092\u81ea\u7531\u306b\u8a2d\u8a08\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e main_grid_map_designer.m \u306f\u30d5\u30a9\u30eb\u30c0 /climblab/src/environment/grid_map \u4e0b\u306b\u7f6e\u304b\u308c\u305f\u95a2\u6570\u3067\u3042\u308b\uff0e \u4ee5\u4e0a\u304c\uff0cmain_sim.m\u4ee5\u5916\u306b\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u3068\u3057\u3066ClimbLab\u306b\u5b58\u5728\u3057\u3066\u3044\u308bMain\u95a2\u6570\u3067\u3042\u308b\uff0e","title":"C++"},{"location":"c%2B%2B/#3-other-main-functions","text":"\u524d\u7ae0\u3067 main_sim.m \u3068\u305d\u306e\u5185\u90e8\u3067\u5b9f\u884c\u3055\u308c\u308b5\u3064\u306e\u7a2e\u985e\u306e\u95a2\u6570\u306b\u3064\u3044\u3066\u8ff0\u3079\u305f\uff0e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u5b9f\u884c\u306b\u7528\u3089\u308c\u308bMain\u95a2\u6570\u306f main_sim.m \u305f\u3060\u4e00\u3064\u3067\u3042\u308b\uff0e\u305d\u306e\u4ee3\u308f\u308a\u306b\u4f7f\u7528\u3059\u308b\u30e6\u30fc\u30b6\u30fc\u304c\u305d\u308c\u305e\u308cConfiguration\u95a2\u6570\u3092\u72ec\u81ea\u306b\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u3067\u69d8\u3005\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u540c\u6642\u306b\u958b\u767a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\uff0c\u3053\u308c\u304cClimbLab\u304c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3067\u3042\u308b\u6240\u4ee5\u3067\u3042\u308b\uff0e\u3057\u304b\u3057\uff0c main_sim.m \u4ee5\u5916\u306b\u3082\uff0cClimbLab\u306e\u30d5\u30a9\u30eb\u30c0\u5185\u306b\u306f\u5358\u72ec\u3067\u5b9f\u884c\u3067\u304d\u308b\u95a2\u6570\u304c\u5b58\u5728\u3059\u308b\uff0e\u3053\u308c\u3089\u306e\u95a2\u6570\u306b\u306f\u63a5\u982d\u8f9e\u306b main_ \u304c\u4ed8\u3051\u3089\u308c\u3066\u304a\u308a\uff0c\u4ee5\u4e0b\u306e5\u3064\u306eMain\u95a2\u6570\u304c\u5b58\u5728\u3059\u308b\uff0e main_iterative_sim.m main_LP_2D_analysis.m main_LP_3D_analysis.m main_target_detection.m main_iterative_target_detection.m main_grid_map_designer.m \u4e0a\u8a18\u306e5\u3064\u306e\u95a2\u6570\u306e\u5f79\u5272\u306b\u3064\u3044\u3066\u4ee5\u4e0b\u3067\u8aac\u660e\u3059\u308b\uff0e\u306a\u304a\uff0c\u3053\u308c\u3089\u306e\u30d5\u30a1\u30a4\u30eb\u3092\u5b9f\u884c\u3059\u308b\u305f\u3081\u306b\u306f\uff0c\u5b9f\u884c\u3059\u308b\u969b\u306eMATLAB\u306e\u300c\u73fe\u5728\u306e\u30d5\u30a9\u30eb\u30c0\u300d\u3084\uff0cMATLAB\u306e\u30d1\u30b9\u306b\u6ce8\u610f\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e main_iterative_sim.m \u306f\uff0c\u5b87\u91ce\u3089\u306b\u3088\u3063\u3066\u5b9f\u88c5\u3055\u308c\u305f\uff0c\u811a\u578b\u30ed\u30dc\u30c3\u30c8\u306e\u95a2\u7bc0\u914d\u7f6e\u306e\u9055\u3044\u306b\u3088\u308b\u30c8\u30eb\u30af\u6d88\u8cbb\u306e\u6bd4\u8f03\u3092\u304a\u3053\u306a\u3046\u305f\u3081\u306e\u5b9f\u884c\u30b3\u30fc\u30c9\u3067\u3042\u308b\uff0e\u3053\u306e\u30b3\u30fc\u30c9\u5185\u3067\u306f main_sim.m \u306b\u76f8\u5f53\u3059\u308b\u30b3\u30fc\u30c9\u304c\u30eb\u30fc\u30d7\u306b\u3088\u3063\u3066\u7e70\u308a\u8fd4\u3057\u5b9f\u884c\u3055\u308c\u308b\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u308b\uff0e\u30eb\u30fc\u30d7\u5185\u3067\u306f\uff0c\u3042\u308b\u6307\u5b9a\u3057\u305f\u59ff\u52e2\u3067\u4e00\u5b9a\u6642\u9593\u30ed\u30dc\u30c3\u30c8\u306e\u59ff\u52e2\u3092\u4fdd\u3061\uff0c\u305d\u306e\u9593\u306e\u30ed\u30dc\u30c3\u30c8\u306e\u30c8\u30eb\u30af\u6d88\u8cbb\u3092\u8a08\u7b97\u3059\u308b\uff0e\u59ff\u52e2\u3092\u5c11\u3057\u305a\u3064\u79fb\u52d5\u3055\u305b\u306a\u304c\u3089\u30eb\u30fc\u30d7\u3092\u7e70\u308a\u8fd4\u3057\u3066\u691c\u8a3c\u3057\u3066\u3044\u304f\u3053\u3068\u3067\uff0c\u69d8\u3005\u306a\u59ff\u52e2\u306b\u304a\u3051\u308b\u30ed\u30dc\u30c3\u30c8\u306e\u30c8\u30eb\u30af\u6d88\u8cbb\u3092\u5206\u6790\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e main_iterative_sim.m \u306f\uff0c\u30d5\u30a9\u30eb\u30c0 /climblab/src/script \u4e0b\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0e main_LP_2D_analysis.m \u304a\u3088\u3073 main_LP_3D_analysis.m \u306f\u30ed\u30dc\u30c3\u30c8\u306e\u30ea\u30f3\u30af\u30d1\u30e9\u30e1\u30fc\u30bf(LP)\u304b\u3089\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u811a\u5148\u53ef\u52d5\u7bc4\u56f2\u3092\u305d\u308c\u305e\u308c2\u6b21\u5143\u7684\u30683\u6b21\u5143\u7684\u306b\u63cf\u753b\u3059\u308b\u95a2\u6570\u3067\u3042\u308b\uff0e\u30ed\u30dc\u30c3\u30c8\u30e2\u30c7\u30eb\u3092\u30a2\u30c3\u30d7\u30c7\u30fc\u30c8\u3057\u3066\u65b0\u305f\u306a\u30ea\u30f3\u30af\u30d1\u30e9\u30e1\u30fc\u30bf\u3078\u3068\u5909\u66f4\u3059\u308b\u969b\u306a\u3069\u306b\uff0c\u3053\u308c\u3089\u306e\u95a2\u6570\u3092\u4f7f\u3046\u3053\u3068\u3067\u5e83\u3044\u811a\u5148\u53ef\u52d5\u7bc4\u56f2\u3092\u6301\u3064\u30ed\u30dc\u30c3\u30c8\u306e\u8a2d\u8a08\u3092\u9032\u3081\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u3053\u308c\u3089\u306e\u95a2\u6570\u306f\u30d5\u30a9\u30eb\u30c0 /climblab/src/robot/LP_analysis \u4e0b\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0e main_target_detection.m \u306f\uff0c\u5730\u5f62\u60c5\u5831\u30c7\u30fc\u30bf\u306b\u5bfe\u3057\u3066\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u3092\u304a\u3053\u306a\u3046\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u3067\u3042\u308b\uff0e main_sim.m \u5185\u3067\u3082 target_detection.m \u3092\u5b9f\u884c\u3057\u3066\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u3092\u304a\u3053\u306a\u3046\u3053\u3068\u3082\u3067\u304d\u308b\u304c\uff0c\u4e88\u3081\u3053\u306eMain\u95a2\u6570\u3092\u7528\u3044\u3066\uff0c main_sim.m \u5185\u3067\u5b9f\u884c\u3055\u308c\u308b\u30b3\u30fc\u30c9\u3068\u540c\u4e00\u306e\u30b3\u30fc\u30c9\u306b\u3088\u3063\u3066\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u3060\u3051\u3092\u8a66\u884c\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u3053\u306e\u95a2\u6570\u3092\u7528\u3044\u3066\uff0c\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u306e\u7d50\u679c\u3092\u4e88\u3081\u78ba\u304b\u3081\u305f\u308a\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u8abf\u6574\u3057\u305f\u308a\u3059\u308b\u3053\u3068\u3067\uff0c\u5730\u5f62\u5185\u306e\u628a\u6301\u70b9\u306e\u5206\u5e03\u3092\u4e88\u3081\u628a\u63e1\u3057\u3066\u304b\u3089\uff0c\u5b9f\u969b\u306e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u53d6\u308a\u7d44\u3080\u3053\u3068\u304c\u3067\u304d\u308b\uff0e main_target_detection.m \u3067\u306f\uff0cConfiguration\u95a2\u6570\u3068\u3057\u3066\uff0c config_target_detection_testing_param.m \u3092\u8aad\u307f\u8fbc\u3093\u3067\u3044\u308b\u305f\u3081\uff0c\u3053\u306eConfig\u95a2\u6570\u306b\u66f8\u3044\u305f\u306e\u3068\u540c\u3058\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306eConfig\u95a2\u6570\u306b\u3082\u8a18\u8ff0\u3059\u308c\u3070\uff0c\u540c\u3058\u628a\u6301\u53ef\u80fd\u70b9\u306e\u51fa\u529b\u7d50\u679c\u304c main_sim \u3067\u3082\u5f97\u3089\u308c\u308b\u3053\u3068\u306b\u306a\u308b\uff0e\u307e\u305f\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u306f\u51e6\u7406\u306b\u6642\u9593\u304c\u304b\u304b\u308b\u305f\u3081\uff0c\u4f55\u5ea6\u3082\u540c\u3058\u5730\u5f62\u30de\u30c3\u30d7\u3067\u306e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u7e70\u308a\u8fd4\u3057\u3066\u691c\u8a3c\u3059\u308b\u5834\u5408\uff0c\u4e88\u3081 main_target_detection.m \u3092\u5b9f\u884c\u3057\u3066\u5f97\u3089\u308c\u305f\u628a\u6301\u70b9\u306e\u5206\u5e03\u3092\u4fdd\u5b58\u3057\uff0c main_sim.m \u3067\u306f\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3092\u5b9f\u884c\u3059\u308b\u306e\u3067\u306f\u306a\u304f\u4fdd\u5b58\u3057\u305f\u628a\u6301\u70b9\u5206\u5e03\u3092\u8aad\u307f\u8fbc\u3080\u3088\u3046\u306b\u3059\u308c\u3070\uff0c\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u304b\u304b\u308b\u6642\u9593\u3092\u7bc0\u7d04\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e main_target_detection.m \u306f\uff0c\u30d5\u30a9\u30eb\u30c0 /climblab/lib/target_detection \u4e0b\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0e \u307e\u305f\uff0c main_iterative_target_detection.m \u306f\uff0c main_target_detection.m \u3092\u7e70\u308a\u8fd4\u3057\u5b9f\u884c\u3059\u308b\u3088\u3046\u306b\u66f8\u304b\u308c\u305f\u95a2\u6570\u3067\u3042\u308b\uff0e\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u3067\u306f\uff0c\u5730\u5f62\u60c5\u5831\u3092\u30dc\u30af\u30bb\u30eb\u5316\u3057\uff0c\u4e00\u3064\u306e\u5de8\u5927\u306a\u4e09\u6b21\u5143\u914d\u5217\u306b\u5909\u63db\u3059\u308b\uff0e\u305d\u306e\u305f\u3081\uff0c\u9ad8\u4f4e\u5dee\u304c\u6fc0\u3057\u3044\u30de\u30c3\u30d7\u3084\u5965\u884c\u306e\u5e83\u3044\u5730\u5f62\u30de\u30c3\u30d7\u306e\u5834\u5408\uff0c\u4e09\u6b21\u5143\u914d\u5217\u306e\u8981\u7d20\u6570\u304cMATLAB\u3067\u6271\u3048\u308b\u30b5\u30a4\u30ba\u3092\u8d85\u3048\u3066\u3057\u307e\u3044\uff0c\u8a08\u7b97\u3067\u304d\u306a\u304f\u306a\u3063\u3066\u3057\u307e\u3046\uff0e\u3053\u306e\u554f\u984c\u3092\u907f\u3051\u308b\u305f\u3081\u306b\uff0c\u30ed\u30fc\u30c9\u3057\u305f\u5730\u5f62\u60c5\u5831\u3092xy\u65b9\u5411\u306b\u5c0f\u3055\u306a\u300c\u30bb\u30af\u30b7\u30e7\u30f3\u300d\u306b\u5207\u308a\u5206\u3051\uff0c\u5207\u308a\u5206\u3051\u305f\u30bb\u30af\u30b7\u30e7\u30f3\u3092z\u65b9\u5411\u306b\u300c\u30b9\u30c6\u30fc\u30b8\u300d\u3068\u3057\u3066\u3055\u3089\u306b\u5207\u308a\u5206\u3051\u308b\uff0e\u3053\u306e\u5207\u308a\u5206\u3051\u305f\u72ed\u3044\u7bc4\u56f2\u306b\u5bfe\u3057\u3066\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u3092\u304a\u3053\u306a\u3063\u3066\u3044\u304f\u3053\u3068\u3067\uff0c\u5e83\u5927\u306a\u5730\u5f62\u30de\u30c3\u30d7\u306b\u5bfe\u3057\u3066\u3082\u5730\u5f62\u5185\u5168\u4f53\u306e\u628a\u6301\u53ef\u80fd\u70b9\u3092\u4e00\u6c17\u306b\u691c\u51fa\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e \u6700\u5f8c\u306e main_grid_map_designer.m \u306f\uff0c\u683c\u5b50\u72b6\u306b\u628a\u6301\u70b9\u3092\u914d\u7f6e\u3057\u305f\u30b0\u30ea\u30c3\u30c9\u30de\u30c3\u30d7\u3092\u4f5c\u6210\u3059\u308b\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u3067\u3042\u308b\uff0e\u30de\u30c3\u30d7\u306e\u30b5\u30a4\u30ba\u3068\u30b0\u30ea\u30c3\u30c9\u5e45\u3092\u6307\u5b9a\u3059\u308b\u3053\u3068\u3067\uff0c\u30b0\u30ea\u30c3\u30c9\u72b6\u306b\u628a\u6301\u70b9\u3092\u914d\u7f6e\u3057\u3066\u30de\u30c3\u30d7\u3092\u751f\u6210\u3059\u308b\uff0e\u3055\u3089\u306b\uff0c\u6307\u5b9a\u3057\u305f\u5272\u5408\u3060\u3051\u628a\u6301\u70b9\u3092\u30e9\u30f3\u30c0\u30e0\u306b\u9593\u5f15\u3044\u305f\u308a\uff0c\u6307\u5b9a\u3057\u305f\u30a8\u30ea\u30a2\u5185\u306b\u5b58\u5728\u3059\u308b\u628a\u6301\u70b9\u3092\u6d88\u53bb\u3057\u305f\u308a\u3059\u308b\u3053\u3068\u3067\uff0c\u758e\u5bc6\u3055\u3092\u6709\u3059\u308b\u3088\u3046\u306a\u30de\u30c3\u30d7\u3084\u30b4\u30fc\u30eb\u5230\u9054\u306e\u305f\u3081\u306b\u8fc2\u56de\u3092\u8981\u3059\u308b\u3088\u3046\u306a\u30de\u30c3\u30d7\u306a\u3069\u3092\u81ea\u7531\u306b\u8a2d\u8a08\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e main_grid_map_designer.m \u306f\u30d5\u30a9\u30eb\u30c0 /climblab/src/environment/grid_map \u4e0b\u306b\u7f6e\u304b\u308c\u305f\u95a2\u6570\u3067\u3042\u308b\uff0e \u4ee5\u4e0a\u304c\uff0cmain_sim.m\u4ee5\u5916\u306b\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u3068\u3057\u3066ClimbLab\u306b\u5b58\u5728\u3057\u3066\u3044\u308bMain\u95a2\u6570\u3067\u3042\u308b\uff0e","title":"3. Other Main Functions"},{"location":"index%20%28copy%29/","text":"Welcome to MkDocs For full documentation visit mkdocs.org . Commands mkdocs new [dir-name] - Create a new project. mkdocs serve - Start the live-reloading docs server. mkdocs build - Build the documentation site. mkdocs help - Print this help message. Project layout 1 2 3 4 mkdocs.yml # The configuration file. docs/ index.md # The documentation homepage. ... # Other markdown pages, images and other files. Examples Important Note We installed admonition for the important message such as cautions, note, and remarks. E.g.) Note This is an important message. Tip \u30d2\u30f3\u30c8\u3067\u3059\u3002 Warning \u3053\u308c\u306f\u8b66\u544a\u3067\u3059 Danger \u3053\u308c\u306f\u5371\u967a\u3067\u3059\u3002","title":"Welcome to MkDocs"},{"location":"index%20%28copy%29/#welcome-to-mkdocs","text":"For full documentation visit mkdocs.org .","title":"Welcome to MkDocs"},{"location":"index%20%28copy%29/#commands","text":"mkdocs new [dir-name] - Create a new project. mkdocs serve - Start the live-reloading docs server. mkdocs build - Build the documentation site. mkdocs help - Print this help message.","title":"Commands"},{"location":"index%20%28copy%29/#project-layout","text":"1 2 3 4 mkdocs.yml # The configuration file. docs/ index.md # The documentation homepage. ... # Other markdown pages, images and other files.","title":"Project layout"},{"location":"index%20%28copy%29/#examples","text":"","title":"Examples"},{"location":"index%20%28copy%29/#important-note","text":"We installed admonition for the important message such as cautions, note, and remarks. E.g.) Note This is an important message. Tip \u30d2\u30f3\u30c8\u3067\u3059\u3002 Warning \u3053\u308c\u306f\u8b66\u544a\u3067\u3059 Danger \u3053\u308c\u306f\u5371\u967a\u3067\u3059\u3002","title":"Important Note"},{"location":"matlab/","text":"SpaceDyn as a MATLAB toolbox SpaceDyn was originally created as MATLAB toolbox [1]. We developed this toolbox motivated and inspired by Robotics toolbox developed by Peter I. Corke. We took one m-file ( cross.m ) and use it as the original is, but SpaceDyn as a whole, does not have compatibility with the Peter's Robotics toolbox unfortunately. Note The MATLAB toolbox of Spacedyn requires MATLAB 5.0 or higher. (It uses functions that are not supported in 4.0 or lower.) Usage Just clone the repository, and copy all the MATLAB functions in SpaceDyn/src/matlab to your workspace, and use them to model your robot and calculate its kinematics and dynamics. Each-by-each m-file usage is detailed in the following quick reference shown later. Technical Note For mathematical symbols, we give the name of variables with more than two letters. For example, vector r and c are coded by RR and cc , respectively This is to avoid the confusion with control variables such as i , j , k , or l , m , n , etc, which are frequently used as iteration or array counters. However, there is an exeption: the symbol q is used for the joint variable vector q . Since MATLAB doesn't allow 0 for array index, we use R0 and c0 instead of RR[0] and cc[0] , for example. For the representation of attitude or orientation, we use 3 by 3 direction cosine matrices, coded with a symbol A . For example, A0 is the direction cosines to represent the attitude of the body 0. For the other bodies, a matrix AA is used. For Roll-Pitch-Yaw (RPY) angles, we use the symbol Q . For example, in order to express the twisting angles between two coordinate systems, we consider $ \\alpha $ (roll) around $ x $-axis, $ \\beta $ (pitch) around $ y $-axis, then $ \\gumma $ (yaw) around $ z $-axis. The set of these angles are coded by Qi . We use both the input variables and the global variables to pass the values to m-file functions. The input variables inside the braces are the variables changing time to time, such as joint angles, positions, orientations, and so on. The global variables are the ones holding constant once the model is given, such as topological description matrices, kinematics and dynamic parameters. Quick Reference The interactive quick reference guide written in html is already available in our GitHub directory . Please download the repository spacedyn_reference and open index.html in web browser to get started. Original User Manual The original user manual is also avaliable. The Spacedyn - a MATLAB Toolbox for Space and Mobile Robots We heavily recommend the user to read this manual, which describe the development philosophy and programing rules, to understand the code, deeply.","title":"MATLAB"},{"location":"matlab/#spacedyn-as-a-matlab-toolbox","text":"SpaceDyn was originally created as MATLAB toolbox [1]. We developed this toolbox motivated and inspired by Robotics toolbox developed by Peter I. Corke. We took one m-file ( cross.m ) and use it as the original is, but SpaceDyn as a whole, does not have compatibility with the Peter's Robotics toolbox unfortunately. Note The MATLAB toolbox of Spacedyn requires MATLAB 5.0 or higher. (It uses functions that are not supported in 4.0 or lower.)","title":"SpaceDyn as a MATLAB toolbox"},{"location":"matlab/#usage","text":"Just clone the repository, and copy all the MATLAB functions in SpaceDyn/src/matlab to your workspace, and use them to model your robot and calculate its kinematics and dynamics. Each-by-each m-file usage is detailed in the following quick reference shown later.","title":"Usage"},{"location":"matlab/#technical-note","text":"For mathematical symbols, we give the name of variables with more than two letters. For example, vector r and c are coded by RR and cc , respectively This is to avoid the confusion with control variables such as i , j , k , or l , m , n , etc, which are frequently used as iteration or array counters. However, there is an exeption: the symbol q is used for the joint variable vector q . Since MATLAB doesn't allow 0 for array index, we use R0 and c0 instead of RR[0] and cc[0] , for example. For the representation of attitude or orientation, we use 3 by 3 direction cosine matrices, coded with a symbol A . For example, A0 is the direction cosines to represent the attitude of the body 0. For the other bodies, a matrix AA is used. For Roll-Pitch-Yaw (RPY) angles, we use the symbol Q . For example, in order to express the twisting angles between two coordinate systems, we consider $ \\alpha $ (roll) around $ x $-axis, $ \\beta $ (pitch) around $ y $-axis, then $ \\gumma $ (yaw) around $ z $-axis. The set of these angles are coded by Qi . We use both the input variables and the global variables to pass the values to m-file functions. The input variables inside the braces are the variables changing time to time, such as joint angles, positions, orientations, and so on. The global variables are the ones holding constant once the model is given, such as topological description matrices, kinematics and dynamic parameters.","title":"Technical Note"},{"location":"matlab/#quick-reference","text":"The interactive quick reference guide written in html is already available in our GitHub directory . Please download the repository spacedyn_reference and open index.html in web browser to get started.","title":"Quick Reference"},{"location":"matlab/#original-user-manual","text":"The original user manual is also avaliable.","title":"Original User Manual"},{"location":"matlab/#the-spacedyn-a-matlab-toolbox-for-space-and-mobile-robots","text":"We heavily recommend the user to read this manual, which describe the development philosophy and programing rules, to understand the code, deeply.","title":"The Spacedyn - a MATLAB Toolbox for Space and Mobile Robots"},{"location":"ros/","text":"4. How to Execute Simulation ClimbLab\u306fMATLAB\u3067\u8a18\u8ff0\u3055\u308c\u3066\u304a\u308a\uff0c\u5b9f\u884c\u306b\u306fMATALB\u3092\u4f7f\u7528\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e\u52d5\u4f5c\u78ba\u8a8d\u304c\u304a\u3053\u306a\u308f\u308c\u3066\u3044\u308bMATLAB\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u306f\uff0c\u672c\u8ad6\u6587\u57f7\u7b46\u6642(2022\u5e742\u67081\u65e5)\u306b\u304a\u3044\u3066\uff0cMATLAB R2019b\u3067\u3042\u308b\uff0e\u3088\u3063\u3066\uff0c\u5b9f\u884c\u306b\u306fR2019b\u4ee5\u964d\u306eMATLAB\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u74b0\u5883\u304c\u5fc5\u8981\u3067\u3042\u308b\uff0e\u307e\u305f\uff0cMATLAB Toolbox\u306b\u3064\u3044\u3066\u306f\uff0c\u57fa\u672c\u7684\u306b\u5fc5\u8981\u3068\u3057\u306a\u3044\u304c\uff0c\u3054\u304f\u4e00\u90e8\u306e\u6a5f\u80fd\u306b\u3064\u3044\u3066\u4ee5\u4e0b\u306eToolbox\uff1a Optimization Toolbox Robotics Toolbox Signal Processing Toolbox Reinforcement Learning Toolbox Deep Learning Toolbox \u304c\u4f7f\u7528\u3055\u308c\u308b\u305f\u3081\uff0c\u5fc5\u8981\u306a\u5834\u5408\u306f\u9069\u5b9c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e 4.1 How to execute main_sim.m main_sim.m \u3092\u5b9f\u884c\u3057\uff0c\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u624b\u9806\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e\u306a\u304a\uff0c\u5148\u306b\u8ff0\u3079\u305fMATLAB\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u74b0\u5883\u3092\u524d\u63d0\u3068\u3059\u308b\uff0e \u307e\u305a\u57fa\u672c\u8a2d\u5b9a\u3067\u3042\u308b\"default\"\u3067\u5b9f\u884c\u3059\u308b\u5834\u5408\u306f\uff0c GitHub\u3084BitBucket\u304b\u3089ClimbLab\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3059\u308b\uff0e MATLAB\u3092\u958b\u304f\uff0e \u30d5\u30a9\u30eb\u30c0/climblab/src\u4e0b\u306b\u304a\u304b\u308c\u3066\u3044\u308b main_sim.m \u3092\u958b\u304f\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u304c\"default\"\u306b\u8a2d\u5b9a\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b\uff0e MATLAB\u5185\u306e\u300c\u73fe\u5728\u306e\u30d5\u30a9\u30eb\u30c0\u300d\u3092 /climblab \u306b\u3059\u308b\uff0e main\\_sim.m \u3092\u5b9f\u884c\u3059\u308b\uff0e \u5b9f\u884c\u5f8c\uff0c\u300cmain_sim.m\u306f\u73fe\u5728\u306e\u30d5\u30a9\u30eb\u30c0\u30fc\u3084MATLAB\u30d1\u30b9\u4e0a\u3067\u898b\u3064\u304b\u308a\u307e\u305b\u3093\uff0e\u300d\u3068\u3044\u3046\u30a8\u30e9\u30fc\u304c\u51fa\u305f\u5834\u5408\u306f\uff0c\u300c\u30d1\u30b9\u306b\u8ffd\u52a0\u300d\u3092\u9078\u629e\u3059\u308b\uff0e \u3068\u3044\u3046\u624b\u9806\u306b\u3088\u3063\u3066\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u958b\u59cb\u3055\u308c\u308b\uff0e \u307e\u305f\u3053\u306e\"default\"\u304b\u3089\u81ea\u5206\u7528\u306b\u65b0\u305f\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u8a2d\u5b9a\u3092\u5909\u66f4\u3057\u3066\u8a66\u3059\u5834\u5408\u306b\u306f\uff0c \u30d5\u30a9\u30eb\u30c0 /climblab/config/USER \u4e0b\u306b\u304a\u304b\u308c\u3066\u3044\u308b config\\_USER\\_param\\_template.m \u3092\u30b3\u30d4\u30fc\u3057\uff0c\u540c\u3058\u30d5\u30a9\u30eb\u30c0\u306b\uff0c config_USER_param.m \u3068\u540d\u524d\u3092\u5909\u3048\u3066\u4f5c\u6210\u3059\u308b\uff0e config_USER_param.m \u5185\u306b\uff0cdefault\u304b\u3089\u5909\u66f4\u3057\u305f\u3044\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u8a2d\u5b9a\u3092\u66f8\u304d\u52a0\u3048\u308b\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u3092\"default\"\u304b\u3089\"USER\"\u306b\u5909\u66f4\u3059\u308b\uff0e main_sim.m \u3092\u5b9f\u884c\u3059\u308b\uff0e \u3068\u3044\u3046\u624b\u9806\u3067\u8a2d\u5b9a\u3092\u5909\u66f4\u3057\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u5909\u66f4\u3067\u304d\u308b\u8a2d\u5b9a\u306f\uff0c\u30d5\u30a9\u30eb\u30c0 config/default \u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\u5404class\u306e\u521d\u671f\u8a2d\u5b9a\u7528\u306e\u95a2\u6570\u306e\u4e2d\u8eab\u3092\u898b\u308b\u3053\u3068\u3067\u78ba\u8a8d\u3067\u304d\u308b\uff0e \u307e\u305f\uff0c\u81ea\u5206\u304c\u958b\u767a\u3092\u9032\u3081\u308b\u4e2d\u3067\uff0c\u8a2d\u5b9a\u3092\u534a\u6c38\u7d9a\u7684\u306b\u4fdd\u5b58\u3057\u3066\u304a\u304d\u305f\u3044config\u30d5\u30a1\u30a4\u30eb\u304c\u3042\u308b\u5834\u5408\u306f\uff0cpreset\u3068\u3057\u3066\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u6210\u3059\u308b\uff0e\u4e00\u65b9\u3067\uff0c\u81ea\u5206\u304c\u958b\u767a\u3057\u305f\u308f\u3051\u3067\u306f\u306a\u3044\u65e2\u5b58\u306epreset\u306b\u3064\u3044\u3066\u306f\u57fa\u672c\u7684\u306b\u7de8\u96c6\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u3053\u308c\u3089\u306epreset\u306b\u306f\u8ad6\u6587\u306a\u3069\u3067\u5bfe\u5916\u7684\u306b\u793a\u3057\u305f\u7d50\u679c\u3092\u4fdd\u5b58\u3057\u3066\u304a\u304f\u3079\u304d\u3082\u306e\u3082\u3042\u308b\u306e\u3067\uff0c\u7de8\u96c6\u3059\u308b\u969b\u306f\u958b\u767a\u8005\u3084\u30c1\u30fc\u30e0\u3068\u8a71\u3057\u5408\u3046\u5fc5\u8981\u304c\u3042\u308b\uff0epreset\u306e\u4f5c\u6210\u624b\u9806\u3092\u4ee5\u4e0b\u306b\u793a\u3059\uff0e config/preset \u4e0b\u306b\uff0c config_xxx_param.m \u3068\u3044\u3046\u81ea\u5206\u306econfig\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u308b\uff0e xxx \u306f\u4efb\u610f\u3060\u304c\uff0c config_ \u3067\u59cb\u307e\u308a\uff0c _param \u3067\u7d42\u308f\u308b\u3088\u3046\u306b\u547d\u540d\u3059\u308b\uff0e config_xxx_param.m \u306e\u5185\u90e8\u306b\u81ea\u5206\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u8a2d\u5b9a\u3059\u308b\uff0e main_sim\u5185\u3067 `config = \u2018xxx\u2019; \u3068\u8a2d\u5b9a\u3059\u308b\uff0e config_simulation\u5185\u3067\u4e00\u756a\u4e0b\u306b\uff0c if strcmp(config, \u2018xxx\u2019) [... ] = config_xxx_param(....); end \u3068\u65b0\u3057\u304f\u8a18\u8ff0\u3057\u3066\uff0c\u4f5c\u6210\u3057\u305fconfig\u30d5\u30a1\u30a4\u30eb\u3092load\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u3092\"xxx\"\u306b\u5909\u66f4\u3059\u308b\uff0e main_sim \u3092 /climblab \u4e0b\u3067\u5b9f\u884c\u3059\u308b\uff0e","title":"ROS"},{"location":"ros/#4-how-to-execute-simulation","text":"ClimbLab\u306fMATLAB\u3067\u8a18\u8ff0\u3055\u308c\u3066\u304a\u308a\uff0c\u5b9f\u884c\u306b\u306fMATALB\u3092\u4f7f\u7528\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e\u52d5\u4f5c\u78ba\u8a8d\u304c\u304a\u3053\u306a\u308f\u308c\u3066\u3044\u308bMATLAB\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u306f\uff0c\u672c\u8ad6\u6587\u57f7\u7b46\u6642(2022\u5e742\u67081\u65e5)\u306b\u304a\u3044\u3066\uff0cMATLAB R2019b\u3067\u3042\u308b\uff0e\u3088\u3063\u3066\uff0c\u5b9f\u884c\u306b\u306fR2019b\u4ee5\u964d\u306eMATLAB\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u74b0\u5883\u304c\u5fc5\u8981\u3067\u3042\u308b\uff0e\u307e\u305f\uff0cMATLAB Toolbox\u306b\u3064\u3044\u3066\u306f\uff0c\u57fa\u672c\u7684\u306b\u5fc5\u8981\u3068\u3057\u306a\u3044\u304c\uff0c\u3054\u304f\u4e00\u90e8\u306e\u6a5f\u80fd\u306b\u3064\u3044\u3066\u4ee5\u4e0b\u306eToolbox\uff1a Optimization Toolbox Robotics Toolbox Signal Processing Toolbox Reinforcement Learning Toolbox Deep Learning Toolbox \u304c\u4f7f\u7528\u3055\u308c\u308b\u305f\u3081\uff0c\u5fc5\u8981\u306a\u5834\u5408\u306f\u9069\u5b9c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e","title":"4. How to Execute Simulation"},{"location":"ros/#41-how-to-execute-main_simm","text":"main_sim.m \u3092\u5b9f\u884c\u3057\uff0c\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u624b\u9806\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e\u306a\u304a\uff0c\u5148\u306b\u8ff0\u3079\u305fMATLAB\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u74b0\u5883\u3092\u524d\u63d0\u3068\u3059\u308b\uff0e \u307e\u305a\u57fa\u672c\u8a2d\u5b9a\u3067\u3042\u308b\"default\"\u3067\u5b9f\u884c\u3059\u308b\u5834\u5408\u306f\uff0c GitHub\u3084BitBucket\u304b\u3089ClimbLab\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3059\u308b\uff0e MATLAB\u3092\u958b\u304f\uff0e \u30d5\u30a9\u30eb\u30c0/climblab/src\u4e0b\u306b\u304a\u304b\u308c\u3066\u3044\u308b main_sim.m \u3092\u958b\u304f\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u304c\"default\"\u306b\u8a2d\u5b9a\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b\uff0e MATLAB\u5185\u306e\u300c\u73fe\u5728\u306e\u30d5\u30a9\u30eb\u30c0\u300d\u3092 /climblab \u306b\u3059\u308b\uff0e main\\_sim.m \u3092\u5b9f\u884c\u3059\u308b\uff0e \u5b9f\u884c\u5f8c\uff0c\u300cmain_sim.m\u306f\u73fe\u5728\u306e\u30d5\u30a9\u30eb\u30c0\u30fc\u3084MATLAB\u30d1\u30b9\u4e0a\u3067\u898b\u3064\u304b\u308a\u307e\u305b\u3093\uff0e\u300d\u3068\u3044\u3046\u30a8\u30e9\u30fc\u304c\u51fa\u305f\u5834\u5408\u306f\uff0c\u300c\u30d1\u30b9\u306b\u8ffd\u52a0\u300d\u3092\u9078\u629e\u3059\u308b\uff0e \u3068\u3044\u3046\u624b\u9806\u306b\u3088\u3063\u3066\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u958b\u59cb\u3055\u308c\u308b\uff0e \u307e\u305f\u3053\u306e\"default\"\u304b\u3089\u81ea\u5206\u7528\u306b\u65b0\u305f\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u8a2d\u5b9a\u3092\u5909\u66f4\u3057\u3066\u8a66\u3059\u5834\u5408\u306b\u306f\uff0c \u30d5\u30a9\u30eb\u30c0 /climblab/config/USER \u4e0b\u306b\u304a\u304b\u308c\u3066\u3044\u308b config\\_USER\\_param\\_template.m \u3092\u30b3\u30d4\u30fc\u3057\uff0c\u540c\u3058\u30d5\u30a9\u30eb\u30c0\u306b\uff0c config_USER_param.m \u3068\u540d\u524d\u3092\u5909\u3048\u3066\u4f5c\u6210\u3059\u308b\uff0e config_USER_param.m \u5185\u306b\uff0cdefault\u304b\u3089\u5909\u66f4\u3057\u305f\u3044\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u8a2d\u5b9a\u3092\u66f8\u304d\u52a0\u3048\u308b\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u3092\"default\"\u304b\u3089\"USER\"\u306b\u5909\u66f4\u3059\u308b\uff0e main_sim.m \u3092\u5b9f\u884c\u3059\u308b\uff0e \u3068\u3044\u3046\u624b\u9806\u3067\u8a2d\u5b9a\u3092\u5909\u66f4\u3057\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u5909\u66f4\u3067\u304d\u308b\u8a2d\u5b9a\u306f\uff0c\u30d5\u30a9\u30eb\u30c0 config/default \u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\u5404class\u306e\u521d\u671f\u8a2d\u5b9a\u7528\u306e\u95a2\u6570\u306e\u4e2d\u8eab\u3092\u898b\u308b\u3053\u3068\u3067\u78ba\u8a8d\u3067\u304d\u308b\uff0e \u307e\u305f\uff0c\u81ea\u5206\u304c\u958b\u767a\u3092\u9032\u3081\u308b\u4e2d\u3067\uff0c\u8a2d\u5b9a\u3092\u534a\u6c38\u7d9a\u7684\u306b\u4fdd\u5b58\u3057\u3066\u304a\u304d\u305f\u3044config\u30d5\u30a1\u30a4\u30eb\u304c\u3042\u308b\u5834\u5408\u306f\uff0cpreset\u3068\u3057\u3066\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u6210\u3059\u308b\uff0e\u4e00\u65b9\u3067\uff0c\u81ea\u5206\u304c\u958b\u767a\u3057\u305f\u308f\u3051\u3067\u306f\u306a\u3044\u65e2\u5b58\u306epreset\u306b\u3064\u3044\u3066\u306f\u57fa\u672c\u7684\u306b\u7de8\u96c6\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u3053\u308c\u3089\u306epreset\u306b\u306f\u8ad6\u6587\u306a\u3069\u3067\u5bfe\u5916\u7684\u306b\u793a\u3057\u305f\u7d50\u679c\u3092\u4fdd\u5b58\u3057\u3066\u304a\u304f\u3079\u304d\u3082\u306e\u3082\u3042\u308b\u306e\u3067\uff0c\u7de8\u96c6\u3059\u308b\u969b\u306f\u958b\u767a\u8005\u3084\u30c1\u30fc\u30e0\u3068\u8a71\u3057\u5408\u3046\u5fc5\u8981\u304c\u3042\u308b\uff0epreset\u306e\u4f5c\u6210\u624b\u9806\u3092\u4ee5\u4e0b\u306b\u793a\u3059\uff0e config/preset \u4e0b\u306b\uff0c config_xxx_param.m \u3068\u3044\u3046\u81ea\u5206\u306econfig\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u308b\uff0e xxx \u306f\u4efb\u610f\u3060\u304c\uff0c config_ \u3067\u59cb\u307e\u308a\uff0c _param \u3067\u7d42\u308f\u308b\u3088\u3046\u306b\u547d\u540d\u3059\u308b\uff0e config_xxx_param.m \u306e\u5185\u90e8\u306b\u81ea\u5206\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u8a2d\u5b9a\u3059\u308b\uff0e main_sim\u5185\u3067 `config = \u2018xxx\u2019; \u3068\u8a2d\u5b9a\u3059\u308b\uff0e config_simulation\u5185\u3067\u4e00\u756a\u4e0b\u306b\uff0c if strcmp(config, \u2018xxx\u2019) [... ] = config_xxx_param(....); end \u3068\u65b0\u3057\u304f\u8a18\u8ff0\u3057\u3066\uff0c\u4f5c\u6210\u3057\u305fconfig\u30d5\u30a1\u30a4\u30eb\u3092load\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u3092\"xxx\"\u306b\u5909\u66f4\u3059\u308b\uff0e main_sim \u3092 /climblab \u4e0b\u3067\u5b9f\u884c\u3059\u308b\uff0e","title":"4.1 How to execute main_sim.m"},{"location":"top/","text":"SpaceDyn User Manual Author(s) and maintainer(s): Space Robotics Lab. Contact email: srl-orbital@grp.tohoku.ac.jp The climbing simulator is being developed by the Climbing Robotics Team in Space Robotics Laboratory at Tohoku University, Japan. The source code is released under a BSD 3-Clause license . This developpers manual is originally written in Google Document and maintained in SRL-Limb's shared drive . Reference Note If you use this simulator in an academic context, please put the following citation. Uno K. et al. (2022) ClimbLab: MATLAB Simulation Platform for Legged Climbing Robotics. In: Chugo D., Tokhi M.O., Silva M.F., Nakamura T., Goher K. (eds) Robotics for Sustainable Future. CLAWAR 2021. Lecture Notes in Networks and Systems, vol 324. Springer, Cham. https://doi.org/10.1007/978-3-030-86294-7_20 1 2 3 4 5 6 7 8 @inproceedings { uno2021climblab , title = { ClimbLab : MATLAB Simulation Platform for Legged Climbing Robotics } , author = { Kentaro Uno and Warley F . R . Ribeiro and Yusuke Koizumi and Keigo Haji and Koki Kurihara and William Jones and Kazuya Yoshida } , booktitle = { Robotics for Sustainable Future } , pages = { 229 -- 241 } , year = { 2022 } , publisher = \"Springer International Publishing\" , } Release note The version of this manual is synchronized with the version of ClimbLab simulator. Since this online manual is deployed since the v4.0, the oldest version is v4.0. v4.0: released on 2021. First released version.","title":"Top"},{"location":"top/#spacedyn-user-manual","text":"Author(s) and maintainer(s): Space Robotics Lab. Contact email: srl-orbital@grp.tohoku.ac.jp The climbing simulator is being developed by the Climbing Robotics Team in Space Robotics Laboratory at Tohoku University, Japan. The source code is released under a BSD 3-Clause license . This developpers manual is originally written in Google Document and maintained in SRL-Limb's shared drive .","title":"SpaceDyn User Manual"},{"location":"top/#reference","text":"Note If you use this simulator in an academic context, please put the following citation. Uno K. et al. (2022) ClimbLab: MATLAB Simulation Platform for Legged Climbing Robotics. In: Chugo D., Tokhi M.O., Silva M.F., Nakamura T., Goher K. (eds) Robotics for Sustainable Future. CLAWAR 2021. Lecture Notes in Networks and Systems, vol 324. Springer, Cham. https://doi.org/10.1007/978-3-030-86294-7_20 1 2 3 4 5 6 7 8 @inproceedings { uno2021climblab , title = { ClimbLab : MATLAB Simulation Platform for Legged Climbing Robotics } , author = { Kentaro Uno and Warley F . R . Ribeiro and Yusuke Koizumi and Keigo Haji and Koki Kurihara and William Jones and Kazuya Yoshida } , booktitle = { Robotics for Sustainable Future } , pages = { 229 -- 241 } , year = { 2022 } , publisher = \"Springer International Publishing\" , }","title":"Reference"},{"location":"top/#release-note","text":"The version of this manual is synchronized with the version of ClimbLab simulator. Since this online manual is deployed since the v4.0, the oldest version is v4.0. v4.0: released on 2021. First released version.","title":"Release note"}]}
\ No newline at end of file
+{"config":{"indexing":"full","lang":["en"],"min_search_length":3,"prebuild_index":false,"separator":"[\\s\\-]+"},"docs":[{"location":"","text":"SpaceDyn Author(s) and maintainer(s): Space Robotics Lab. Contact email: srl-orbital(at)grp.tohoku.ac.jp Overview The SpaceDyn is a MATLAB/C++ library for the kinematic and dynamic analysis and simulation of articulated multi-body systems with a moving base. Examples of such systems are a satellite with mechanical appendages, a free-flying space robot, a wheeled mobile robot, and a walking robot, all of which makes motions in the environment with or without gravity. This toolbox can handle open chain systems with topological tree configuration. A parallel manipulator, for example, then cannot be supported directly. A walking robot contacting on the ground with more than two legs or limbs at a time seems to form a closed chain including the ground, however, we can handle such a system with a proper model of ground contact at each contact point. Parallel manipulators can be treated with virtual cut of a kinematic chain and a corresponding virtual force model. Some academic papers regarding this toolbox is published by Kazuya Yoshida and his co-author(s) [1]. For the technical points of this software, please consult those publications as well as the following chapters of this online user manual. We hope that you could find this toolbox useful for your application. Notice Now, the Spacedyn is Version 2, Release 0. The Spacedyn is a free software. You can download and use it freely for your academic purpose. Any of commercial use is kindly refused. There is no warranty for any damages caused by this software. If you intend to modify and re-distribute the Spacedyn, please consult us. The MATLAB toolbox of Spacedyn requires MATLAB 5.0 or higher. ( It uses functions that are not supported in 4.0 or lower.) Reference Note If you use this simulator in an academic context, please put the following citation. [1] K.Yoshida, The SpaceDyn: a MATLAB toolbox for space and mobile robots, Proc. IEEE/RSJ IROS , pp. 1633--1638. 1 2 3 4 5 6 7 8 9 @ inproceedings { spacedyn , title = { The SpaceDyn : a MATLAB toolbox for space and mobile robots }, author = { Kazuya Yoshida }, booktitle = { Proceedings 1999 IEEE / RSJ International Conference on Intelligent Robots and Systems }, volume = { 3 }, pages = { 1633 -- 1638 }, year = { 1999 }, doi = { 10.1109 / IROS . 1999.811712 }, } This paper is available in IEEE Xplorer . Release Note Oct. 7th, 1999, SpcaeDyn version 1 release 0 was released in the original webpage . Sep. 17th, 2020, SpaceDyn version 2 release 0 was released in GitHub. Oct. 16th, 2020, SpaceDyn C++ was released in GitHub. May. 31th, 2024, SpaceDyn version 2 release 1 was released in GitHub. Debug integral of base orientation (fixed f_dyn_rk2 and dc2qtn , added qtn2dc and w2dQtn ) FAQ Please read this document for details, and FAQ Page . For bug reports or any questions, please contact us via e-mail : 1 spacedyn_support(at)astro.mech.tohoku.ac.jp or 1 srl-orbital(at)grp.tohoku.ac.jp Acknowledgement SpaceDyn is originally developed and released by alumini of SRL listed in the original dcument . C++ version is developed by Dr. Satoko Abiko and Dr. Yoichiro Sato.","title":"Top"},{"location":"#spacedyn","text":"Author(s) and maintainer(s): Space Robotics Lab. Contact email: srl-orbital(at)grp.tohoku.ac.jp","title":"SpaceDyn"},{"location":"#overview","text":"The SpaceDyn is a MATLAB/C++ library for the kinematic and dynamic analysis and simulation of articulated multi-body systems with a moving base. Examples of such systems are a satellite with mechanical appendages, a free-flying space robot, a wheeled mobile robot, and a walking robot, all of which makes motions in the environment with or without gravity. This toolbox can handle open chain systems with topological tree configuration. A parallel manipulator, for example, then cannot be supported directly. A walking robot contacting on the ground with more than two legs or limbs at a time seems to form a closed chain including the ground, however, we can handle such a system with a proper model of ground contact at each contact point. Parallel manipulators can be treated with virtual cut of a kinematic chain and a corresponding virtual force model. Some academic papers regarding this toolbox is published by Kazuya Yoshida and his co-author(s) [1]. For the technical points of this software, please consult those publications as well as the following chapters of this online user manual. We hope that you could find this toolbox useful for your application.","title":"Overview"},{"location":"#notice","text":"Now, the Spacedyn is Version 2, Release 0. The Spacedyn is a free software. You can download and use it freely for your academic purpose. Any of commercial use is kindly refused. There is no warranty for any damages caused by this software. If you intend to modify and re-distribute the Spacedyn, please consult us. The MATLAB toolbox of Spacedyn requires MATLAB 5.0 or higher. ( It uses functions that are not supported in 4.0 or lower.)","title":"Notice"},{"location":"#reference","text":"Note If you use this simulator in an academic context, please put the following citation. [1] K.Yoshida, The SpaceDyn: a MATLAB toolbox for space and mobile robots, Proc. IEEE/RSJ IROS , pp. 1633--1638. 1 2 3 4 5 6 7 8 9 @ inproceedings { spacedyn , title = { The SpaceDyn : a MATLAB toolbox for space and mobile robots }, author = { Kazuya Yoshida }, booktitle = { Proceedings 1999 IEEE / RSJ International Conference on Intelligent Robots and Systems }, volume = { 3 }, pages = { 1633 -- 1638 }, year = { 1999 }, doi = { 10.1109 / IROS . 1999.811712 }, } This paper is available in IEEE Xplorer .","title":"Reference"},{"location":"#release-note","text":"Oct. 7th, 1999, SpcaeDyn version 1 release 0 was released in the original webpage . Sep. 17th, 2020, SpaceDyn version 2 release 0 was released in GitHub. Oct. 16th, 2020, SpaceDyn C++ was released in GitHub. May. 31th, 2024, SpaceDyn version 2 release 1 was released in GitHub. Debug integral of base orientation (fixed f_dyn_rk2 and dc2qtn , added qtn2dc and w2dQtn )","title":"Release Note"},{"location":"#faq","text":"Please read this document for details, and FAQ Page . For bug reports or any questions, please contact us via e-mail : 1 spacedyn_support(at)astro.mech.tohoku.ac.jp or 1 srl-orbital(at)grp.tohoku.ac.jp","title":"FAQ"},{"location":"#acknowledgement","text":"SpaceDyn is originally developed and released by alumini of SRL listed in the original dcument . C++ version is developed by Dr. Satoko Abiko and Dr. Yoichiro Sato.","title":"Acknowledgement"},{"location":"6_development_policy/","text":"6. Development Policy \u672c\u7ae0\u3067\u306fClimbLab\u3092\u4f7f\u3063\u3066\u958b\u767a\u3092\u304a\u3053\u306a\u3046\u5834\u5408\u306e\u6ce8\u610f\u70b9\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e \u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u6210\u3057\u305f\u308a\u6a5f\u80fd\u3092\u8ffd\u52a0\u3059\u308b\u5834\u5408\u306f\uff0c\u6b21\u306e\u53d6\u308a\u6c7a\u3081\u3092\u5b88\u3063\u3066\u304a\u3053\u306a\u3046\uff0e\u57fa\u672c\u7684\u306a\u30b3\u30f3\u30bb\u30d7\u30c8\u3068\u3057\u3066\uff0c\u30b7\u30f3\u30d7\u30eb\uff0c\u304b\u3064\u4eca\u5f8c\u3082\u958b\u767a\u3092\u7d9a\u3051\u3084\u3059\u3044\u3088\u3046\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u306e\u30d5\u30a9\u30fc\u30de\u30c3\u30c8\u3092\u5b88\u308a\uff0c\u304b\u3064\u8ab0\u304c\u8aad\u3093\u3067\u3082\u8aad\u307f\u3084\u3059\u304f\u7406\u89e3\u3057\u3084\u3059\u3044\u3088\u3046\u306b\u66f8\u304f\u3053\u3068\u3092\u5fc3\u304c\u3051\u308b\uff0e \u3000\u3053\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u306e\u7406\u5ff5\u3092\u5b88\u308b\u3053\u3068\u306f\u975e\u5e38\u306b\u91cd\u8981\u3067\u3042\u308a\uff0c\u305d\u306e\u305f\u3081\u306b\u91cd\u8981\u306a\u3053\u3068\u3068\u3057\u3066\uff0c\u65e2\u5b58\u306e main_sim \u4ee5\u5916\u306e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u7528Main\u95a2\u6570\u306f\u4f5c\u6210\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u305f\u308b\u6240\u4ee5\u306f\uff0c\u300c1\u3064\u306e\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u3067\u591a\u69d8\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u53ef\u80fd\u3067\u3042\u308b\u300d\u3053\u3068\u306b\u3042\u308b\u305f\u3081\uff0c\u305d\u306e\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u3092\u5897\u3084\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u305d\u306e\u305f\u3081\uff0c\u65b0\u305f\u306a\u95a2\u6570\u3084\u6a5f\u80fd\u3092\u4f5c\u6210\u3059\u308b\u5834\u5408\u3082\uff0c\u65e2\u5b58\u306e main_sim \u306b\u7d44\u307f\u8fbc\u3080\u5f62\u3067\u5fc5\u305a\u5b9f\u88c5\u3059\u308b\uff0e \u65b0\u3057\u3044\u6a5f\u80fd\u3092\u691c\u8a3c\u3057\u306a\u304c\u3089\u5b9f\u88c5\u3059\u308b\u969b\uff0c\u6b21\u306e\u70b9\u306b\u6ce8\u610f\u3059\u308b\u3068\u958b\u767a\u304c\u30b9\u30e0\u30fc\u30ba\u306b\u9032\u3080\u305f\u3081\uff0c\u5fc5\u8981\u3067\u306f\u306a\u3044\u8a2d\u5b9a\u306foff\u306b\u3059\u308b\u3068\u3088\u3044\uff0e * dynamics\u304c\u5fc5\u8981\u3067\u306a\u3044\u5834\u5408\u306f\uff0cdynamics\u3092off\u306b\u3059\u308b * \u6b69\u884c\u3059\u308b\u5fc5\u8981\u304c\u306a\u3044\u5834\u5408\uff0cgait type\u3092\u2019do_nothing\u2019\u306b\u3059\u308b * \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u4f55\u79d2\u3082\u56de\u3059\u5fc5\u8981\u304c\u306a\u3044\u5834\u5408\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u6700\u5927\u6642\u9593\u30920\u79d2\u306b\u3059\u308b\uff0e \u307e\u305f\uff0c\u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u308b\u5834\u5408\u306e\u95a2\u6570\u306e\u7f6e\u304d\u5834\u6240\u306b\u3064\u3044\u3066\u306f\uff0c4\u7ae0\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3092\u53c2\u8003\u306b\uff0c\u5171\u901a\u3057\u305f\u5f79\u5272\u3067\u304f\u304f\u3089\u308c\u308b\u9069\u5207\u306a\u30d5\u30a9\u30eb\u30c0\u306b\u7f6e\u304f\uff0e \u305d\u306e\u6642\u306e\uff0c\u95a2\u6570\u306e\u547d\u540d\u65b9\u6cd5\u306b\u3064\u3044\u3066\u4ee5\u4e0b\u306e\u70b9\u306b\u6ce8\u610f\u3059\u308b\uff0e \u30b9\u30cd\u30fc\u30af\u30b1\u30fc\u30b9\u3092\u7528\u3044\u308b \u2715 updGiaCalculation.m \u3007 upd_gia_calulation.m \u95a2\u6570\u540d\u306b\u5927\u6587\u5b57\u306f\u4f7f\u308f\u306a\u3044 \u2715 upd_GIA_calculation.m \u3007 upd_gia_calculation.m \u95a2\u6570\u306e\u63a5\u982d\u8f9e\u3092\uff0c\u6b21\u306e\u65e2\u5b58\u306e\u95a2\u6570\u306e\u547d\u540d\u65b9\u6cd5\u306b\u306e\u3063\u3068\u3063\u3066\u63a1\u7528\u3059\u308b config_: 2.4\u7bc0\u53c2\u7167\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u8a2d\u5b9a\u306b\u95a2\u308f\u308b\u95a2\u6570\uff0e ini_: 2.5\u7bc0\u53c2\u7167\uff0e\u30ed\u30dc\u30c3\u30c8\u3084\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u306e\u521d\u671f\u8a2d\u5b9a\u306b\u95a2\u308f\u308b\u95a2\u6570 upd_: 2.6\u7bc0\u53c2\u7167\uff0e\u30eb\u30fc\u30d7\u5185\u3067\uff0c\u6b69\u5bb9\u3084\u5236\u5fa1\u30fb\u529b\u5b66\u306b\u95a2\u308f\u308b\u95a2\u6570 vis_: 2.7\u7bc0\u53c2\u7167\uff0e\u56f3\u306e\u63cf\u753b\u306b\u95a2\u308f\u308b\u95a2\u6570 sav_: 2.8\u7bc0\u53c2\u7167\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5c65\u6b74\u306e\u4fdd\u5b58\u306b\u95a2\u308f\u308b\u95a2\u6570 main_ : 3\u7ae0\u53c2\u7167\uff0e\u5358\u4f53\u3067\u5b9f\u884c\u3057\u3066climblab\u306e\u958b\u767a\u306b\u6709\u7528\u306a\u95a2\u6570\u306b\u4ed8\u3051\u308b \u95a2\u6570\u306e\u540d\u524d\u306f\u3069\u3093\u306a\u306b\u9577\u304f\u306a\u3063\u3066\u3082\u69cb\u308f\u306a\u3044\u306e\u3067\uff0c\u305d\u306e\u95a2\u6570\u304c\u3069\u3046\u3044\u3046\u6a5f\u80fd\u3092\u6709\u3057\u3066\u3044\u308b\u306e\u304b\u5206\u304b\u308b\u3088\u3046\u306b\u66f8\u304f\uff0e \u4e0a\u8a18\u306e\u30eb\u30fc\u30eb\u306b\u306e\u3063\u3068\u3063\u3066\u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u6210\u3057\u305f\u5f8c\u306e\uff0c\u5177\u4f53\u7684\u306a\u30b3\u30fc\u30c9\u306e\u8a18\u8ff0\u30eb\u30fc\u30eb\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0e\u4ee5\u964d\u306e\u5185\u5bb9\u306f\u65b0\u305f\u306a\u6a5f\u80fd\u306e\u5b9f\u88c5\u306e\u969b\u306b\u3082\u5171\u901a\u3059\u308b\u6ce8\u610f\u4e8b\u9805\u3067\u3042\u308b\uff0e 1. \u65b0\u3057\u3044\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u306e\u5192\u982d\u306b\u305d\u306e\u95a2\u6570\u306e\u4ed5\u69d8\u306b\u3064\u3044\u3066\u660e\u78ba\u306b\u8a18\u8f09\u3059\u308b\uff0e \u3053\u306e\u5192\u982d\u306e\u8a18\u8ff0\u3092\u8aad\u3080\u3060\u3051\u3067\uff0c\u305d\u306e\u95a2\u6570\u306e\u304a\u304a\u307e\u304b\u306a\u6a5f\u80fd\u304c\u628a\u63e1\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\uff0e \u8a18\u8ff0\u3059\u308b\u9805\u76ee\u306f\uff0c \u95a2\u6570\u306e\u304f\u304f\u308a(configuration/update/visualize/save/main) \u95a2\u6570\u540d \u95a2\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u4f5c\u6210\u65e5\u6642 \u4f5c\u6210\u8005 \u6700\u7d42\u7de8\u96c6\u65e5\u6642 \u6700\u7d42\u7de8\u96c6\u8005 \u95a2\u6570\u306e\u8a73\u7d30\u306a\u8aac\u660e \u51fa\u529b\u5909\u6570\u306e\u4e00\u89a7\u3068\uff0c\u5404\u5909\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u5165\u529b\u5909\u6570\u306e\u4e00\u89a7\u3068\uff0c\u5404\u5909\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u3067\u3042\u308b\uff0e\u4ee5\u4e0b\u306b\u8a18\u8ff0\u4f8b\u3092\u793a\u3059\uff0e 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 %%%%%% Configuration %%%%%% config_save_settings %%%%%% %%%%%% Configure default saving settings %%%%%% %%%%%% Created 2020 - 07 - 08 %%%%%% Warley Ribeiro %%%%%% Last update : 2021 - 03 - 31 %%%%%% Keigo Haji % % % Load default configurations for saving % % Function variables : % % OUTPUT % save_settings : Data saving settings ( struct ) % INPUT % - 2. \u3080\u3084\u307f\u306bmain_sim\u5185\u306b\u65b0\u305f\u306a\u95a2\u6570\u306e\u8a18\u8ff0\u3092\u5897\u3084\u3055\u305a\uff0cmain_sim\u5185\u3067\u5b9f\u884c\u3055\u308c\u3066\u3044\u308b\u65e2\u5b58\u306e\u95a2\u6570\u5185\u306b\u7d44\u307f\u8fbc\u3080\u5f62\u3067\u65b0\u305f\u306a\u6a5f\u80fd\u3092\u5b9f\u88c5\u3059\u308b\uff0e \u3053\u308c\u306f\uff0cClimbLab\u304c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u6a5f\u80fd\u3057\u3066\u3044\u304f\u305f\u3081\u306bmain_sim\u306e\u4e00\u822c\u6027\u3092\u62c5\u4fdd\u3059\u308b\u305f\u3081\u3067\u3042\u308b\uff0e\u307e\u305f\uff0c\u540c\u6642\u306bmain_sim\u3092\u8907\u6570\u4eba\u304c\u7de8\u96c6\u3059\u308b\u3068Git\u306emerge\u306e\u969b\u306bconflict\u304c\u767a\u751f\u3057\u3084\u3059\u304f\u306a\u308b\u306e\u3067\uff0c\u305d\u306e\u554f\u984c\u3092\u907f\u3051\u308b\u3068\u3044\u3046\u76ee\u7684\u3082\u3042\u308b\uff0e \u60aa\u3044\u4f8b\uff09main_sim\u5185\u306b\u76f4\u63a5\u5b9f\u88c5 1 2 3 4 5 6 7 8 9 10 MAIN_FILE . m ... disp ( time ); if gait_param . type = \u2018 new_gait \u2019 new_gait ( ... ) else path_planning_param = upd_path_planning ( ... ); end [ motion_planning_param , des_SV ] = upd_motion_planning ( ... ); ... \u826f\u3044\u4f8b\uff09main_sim\u306f\u305d\u306e\u307e\u307e\u306b\uff0cupd\u95a2\u6570\u5185\u3067\u5834\u5408\u5206\u3051\u3092\u304a\u3053\u306a\u3063\u3066\u3044\u308b 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 MAIN_FILE . m ... disp ( time ); path_planning_param = upd_path_planning ( ... ); [ motion_planning_param , des_SV ] = upd_motion_planning ( ... ); ... FUNCTION_FILE . m function path_planning_param = upd_path_planning ( ... ) switch gait_param . type case \u2018 new_gait \u2019 new_gait ( ... ); case \u2018 old_gait \u2019 ... 3. \u5909\u6570\u306f\u306a\u308b\u3079\u304fclass\u306b\u53ce\u5bb9\u3059\u308b \u5927\u91cf\u306e\u30ed\u30fc\u30ab\u30eb\u5909\u6570\u3092\u95a2\u6570\u5185\u3067\u306a\u308b\u3079\u304f\u6271\u308f\u306a\u3044\u3088\u3046\u306b\u3059\u308b\uff0e\u3053\u308c\u306fMATLAB\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u5185\u3067\u306e\u5909\u6570\u306e\u628a\u63e1\u304c\u96e3\u3057\u304f\u306a\u308b\u305f\u3081\u3067\u3042\u308b\uff0e\u5909\u6570\u306e\"\u304f\u304f\u308a\"\u3092\u8003\u3048\u3066\uff0c\u65e2\u5b58\u306eclass\u306b\u3042\u3066\u306f\u307e\u308b\u5834\u5408\u306f\u65e2\u5b58\u306eclass( gait_planning_param , motion_planning_param \u7b49)\u306b\u53ce\u5bb9\u3057\uff0c\u306a\u3044\u5834\u5408\u306f\u81ea\u5206\u306e\u6a5f\u80fd\u306b\u3042\u3063\u305f\u65b0\u305f\u306aclass\u3092\u4f5c\u6210\u3059\u308b\u3053\u3068\uff0e \u60aa\u3044\u4f8b\uff09local\u5909\u6570\u304c\u591a\u3044\uff0e 1 2 3 4 5 6 7 8 ... leg1_des_pos = \u2026 leg2_des_pos = \u2026 leg3_des_pos = \u2026 leg4_des_pos = \u2026 base_des_pos = ... generate_trajectory ( leg1_des_pos , leg2_des_pos , leg3_des_pos , leg4_des_pos , base_des_pos ); ... \u3044\u3044\u4f8b\uff09\u5909\u6570\u304cclass\u306b\u5206\u985e\u3055\u308c\u3066\u3044\u308b 1 2 3 4 5 ... path_planning_param . leg_des_pos = \u2026 path_planning_param . base_des_pos = \u2026 generate_trajectory ( path_planning_param ); ... 4. \u5909\u6570\u540d\u3092\u308f\u304b\u308a\u3084\u3059\u304f\u3064\u3051\u308b \u5909\u6570\u540d\u306f\u3069\u3093\u306a\u306b\u9577\u304f\u306a\u3063\u3066\u3082\u3044\u3044\u306e\u3067\uff0c\u8ab0\u306b\u3067\u3082\u308f\u304b\u308b\u3088\u3046\u306b\u4ed8\u3051\u308b\uff0e\u5909\u6570\u540d\u306e\u4ed8\u3051\u65b9\u306f\u95a2\u6570\u3068\u540c\u3058\u304f\uff0csnake_case\u3067\u7d71\u4e00\u3057\uff0ccamelCase\u306f\u4f7f\u308f\u306a\u3044\uff0e\u307e\u305f\uff0c\u305d\u306e\u5909\u6570\u304c\u3069\u3046\u3044\u3046\u5024\u3092\u53ce\u5bb9\u3057\uff0c\u305d\u306e\u5358\u4f4d(\u6b21\u5143)\u306f\u306a\u3093\u306a\u306e\u304b\u3092\u30b3\u30e1\u30f3\u30c8\u3067\u660e\u8a18\u3059\u308b\uff0e \u60aa\u3044\u4f8b\uff09\u4eba\u304c\u8aad\u3093\u3067\u3082\u4f55\u306e\u7565\u79f0\u304b\u308f\u304b\u3089\u306a\u3044 1 2 3 4 5 ... L1 = \u2026 WP . T = \u2026 GPM = ... ... \u3044\u3044\u4f8b\uff09\u30b3\u30e1\u30f3\u30c8\u3084\u5909\u6570\u540d\u304b\u3089\u4f55\u306e\u5024\u304c\u3069\u3046\u3044\u3046\u5358\u4f4d\u6b21\u5143\u3067\u53ce\u5bb9\u3055\u308c\u3066\u3044\u308b\u304b\u5206\u304b\u308b 1 2 3 4 5 6 7 8 \u2026 % Desired position of a leg [m] motion_planning_param . des_leg_pos = \u2026 % Period for crawl gait [s] gait_parameter . T = \u2026 % Grippable points [m] surface_param . grippable_points = ... ... 5. \u65b0\u3057\u3044\u6a5f\u80fd\u306e\u5b9f\u88c5\u5f8c\u306f\uff0c\u5fc5\u305a\u7e70\u308a\u8fd4\u3057\u30c6\u30b9\u30c8\u3092\u304a\u3053\u306a\u3046 \u65b0\u3057\u3044\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u5f8c\u306f\uff0c\u30d1\u30e9\u30e1\u30fc\u30bf\u3084\u8a2d\u5b9a\u3092\u5909\u3048\u3066\u30c6\u30b9\u30c8\u3092\u7e70\u308a\u8fd4\u3057\uff0c\u30d0\u30b0\u304c\u767a\u751f\u3057\u306a\u3044\u3053\u3068\u3092\u78ba\u304b\u3081\u3066\u304b\u3089\u4e0a\u7d1a\u751f\u306bReview\u3092\u304a\u9858\u3044\u3059\u308b\uff0e 6. \u65b0\u3057\u3044\u6a5f\u80fd\u306e\u5b9f\u88c5\u5f8c\u306f\uff0c\u65e2\u5b58\u306epreset\u3067\u3082\u5b9f\u884c\u3057\uff0c\u554f\u984c\u304c\u306a\u3044\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b \u65b0\u305f\u306a\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u3053\u3068\u3067\uff0c\u3053\u308c\u307e\u306epreset\u304c\u56de\u3089\u306a\u304f\u306a\u3063\u305f\u308a\uff0c\u4ed6\u306e\u958b\u767a\u8005\u306e\u958b\u767a\u74b0\u5883\u3068\u5e72\u6e09\u3059\u308b\u6050\u308c\u304c\u3042\u308b\u305f\u3081\uff0cconfig\u8a2d\u5b9a\u3092\u65e2\u5b58\u306epreset\u306b\u3057\u3066\u5168\u3066\u306epreset\u3092\u5b9f\u884c\u3057\uff0c\u554f\u984c\u306a\u304f\u5b9f\u884c\u3055\u308c\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b\uff0e 7. \u95a2\u6570\u3092\u6d88\u3055\u306a\u3044 \u3069\u3093\u306a\u95a2\u6570\u3067\u3042\u308c\uff0c\u3080\u3084\u307f\u306b\u524a\u9664\u3057\u306a\u3044\uff0e\u65b0\u305f\u306a\u6a5f\u80fd\u306b\u3088\u3063\u3066\uff0c\u6b69\u884c\u304c\u5b89\u5b9a\u3057\u305f\u308a\u901f\u304f\u306a\u3063\u305f\u308a\u3059\u308b\u3088\u3046\u306a\u4f55\u304b\u7d50\u679c\u304c\u3088\u304f\u306a\u308b\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u3068\u3057\u3066\u3082\uff0c\u524d\u307e\u3067\u3042\u3063\u305f\u95a2\u6570\u306f\u7d76\u5bfe\u306b\u524a\u9664\u3057\u306a\u3044\uff0e\u65e2\u5b58\u306e\u95a2\u6570\u306f\uff0c\u3053\u308c\u307e\u3067\u306e\u8ca1\u7523\u3067\u3042\u308a\uff0c\u78ba\u5b9f\u306b\u3053\u308c\u307e\u3067\u7a3c\u52d5\u3057\u3066\u3044\u305f\u3068\u3044\u3046\u70b9\u3067\u975e\u5e38\u306b\u6709\u7528\u306a\u3082\u306e\u3067\u3042\u308b\uff0e\u624b\u6cd5\u306e\u6bd4\u8f03\u3092\u304a\u3053\u306a\u3046\u969b\u3084\uff0c\u307e\u305f\u30b7\u30f3\u30d7\u30eb\u306a\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306e\u65b9\u304c\u7406\u89e3\u3057\u3084\u3059\u3044\u3068\u3044\u3046\u70b9\u3067\u597d\u307e\u308c\uff0c\u5fc5\u8981\u3068\u3055\u308c\u308b\u5834\u5408\u3082\u3042\u308b\uff0e\u305d\u308c\u307e\u3067\u306e\u95a2\u6570\u3092\u524a\u9664\u30fb\u66f4\u65b0\u3059\u308b\u306e\u3067\u306f\u306a\u304f\uff0c\u65b0\u305f\u306a\u6a5f\u80fd\u30fb\u30b1\u30fc\u30b9\u3092\u8ffd\u52a0\u3059\u308b\u3068\u3044\u3046\u70b9\u3092\u610f\u8b58\u3057\uff0c\u65e2\u5b58\u306e\u95a2\u6570\u30fb\u65b0\u305f\u306a\u6a5f\u80fd\u306e\u4e21\u65b9\u304c\u6271\u3048\u308b\u3088\u3046\u306b\u958b\u767a\u3092\u9032\u3081\u308b\uff0e 8. \u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u3082\u540c\u6642\u9032\u884c\u3067\u958b\u767a\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u5fd8\u308c\u306a\u3044 ClimbLab\u306f\u5e38\u306b\u8907\u6570\u540d\u304c\u540c\u6642\u306b\u958b\u767a\u3092\u3059\u3059\u3081\u3066\u3044\u308b\uff0e\u305d\u306e\u305f\u3081\uff0c\u81ea\u5206\u304c\u958b\u767a\u3092\u3057\u3066\u3044\u308b\u9593\u306b\uff0c\u8ab0\u304b\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u304c\u958b\u767a\u3092\u7d42\u308f\u3089\u305b\u3066\u65b0\u6a5f\u80fd\u3092\u5b9f\u88c5\u3059\u308b\u3053\u3068\u304c\u3088\u304f\u767a\u751f\u3059\u308b\uff0e\u3053\u306e\u969b\uff0cdevelop\u30d6\u30e9\u30f3\u30c1\u306erebase\u3092\u5e38\u306b\u304a\u3053\u306a\u3046\u3053\u3068\uff0e\u81ea\u5206\u304c\u958b\u767a\u6bb5\u968e\u3067\u63a1\u7528\u3057\u3066\u3044\u305f\u95a2\u6570\u304c\uff0c\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306e\u5b9f\u88c5\u306b\u3088\u3063\u3066\u4e00\u90e8\u5909\u66f4\u3055\u308c\u3066\u3044\u308b\u53ef\u80fd\u6027\u304c\u3042\u308b\u305f\u3081\uff0c\u5e38\u306b\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306e\u958b\u767a\u72b6\u6cc1\u306b\u3064\u3044\u3066\u628a\u63e1\u3059\u308b\uff0e\u4e00\u65b9\u3067\uff0c\u5f53\u7136\uff0c\u81ea\u5206\u306e\u5b9f\u88c5\u304c\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306b\u3082\u5f71\u97ff\u3092\u4e0e\u3048\u308b\u305f\u3081\uff0c\u5e38\u306b\u5831\u544a\u30fb\u9023\u7d61\u30fb\u76f8\u8ac7\u3092\u5fd8\u308c\u306a\u3044\uff0e 9. \u81ea\u5206\u306e\u304a\u3053\u306a\u3063\u305f\u5909\u66f4\u70b9\u3092\u308f\u304b\u308a\u3084\u3059\u304f\u30e1\u30f3\u30d0\u30fc\u306b\u5171\u6709\u3059\u308b \u4e0a\u3067\u3082\u8ff0\u3079\u305f\u3068\u304a\u308a\uff0c\u81ea\u5206\u306e\u5b9f\u88c5\u306f\u4ed6\u4eba\u306e\u958b\u767a\u306b\u5f71\u97ff\u3092\u4e0e\u3048\u308b\uff0e\u305d\u306e\u305f\u3081\uff0c\u4f55\u304b\u65b0\u3057\u3044\u6a5f\u80fd\u306e\u958b\u767a\u3092\u7d42\u3048\u305f\u3089\uff0c\u305d\u306e\u5b9f\u88c5\u306b\u3088\u3063\u3066\u3069\u3093\u306a\u70b9\u304c\u5909\u66f4\u3055\u308c\u305f\u306e\u304b\u3092\uff0c\u305d\u306e\u4f5c\u696d\u306e\u5f53\u4e8b\u8005\u3067\u306f\u306a\u3044\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u9054\u306b\u3082\u308f\u304b\u308a\u3084\u3059\u304f\u5171\u6709\u3059\u308b\uff0e 10. \u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u3068\u7591\u554f\u70b9\u30fb\u554f\u984c\u70b9\u3092\u5171\u6709\u3059\u308b \u540c\u3058\u7591\u554f\u3092\u4ed6\u306e\u958b\u767a\u30e1\u30f3\u30d0\u30fc\u3082\u62b1\u3044\u3066\u3044\u305f\u308a\uff0c\u3082\u3057\u304f\u306f\u3059\u3067\u306b\u89e3\u6c7a\u3057\u305f\u7d4c\u9a13\u304c\u3042\u308b\u304b\u3082\u3057\u308c\u306a\u3044\uff0e\u307e\u305f\u306f\uff0c\u305d\u306e\u554f\u984c\u3092\u89e3\u6c7a\u3059\u308b\u3088\u3046\u306a\u6a5f\u80fd\u3092\u65b0\u305f\u306b\u5225\u306e\u30e1\u30f3\u30d0\u30fc\u304c\u5b9f\u88c5\u3057\u3066\u304f\u308c\u308b\u304b\u3082\u3057\u308c\u306a\u3044\uff0e 11. \u898b\u3064\u3051\u305f\u30d0\u30b0\u3092\u5831\u544a\u3059\u308b \u958b\u767a\u4e2d\u306b\u30d0\u30b0\u3092\u898b\u3064\u3051\u305f\u3089\uff0c\u307f\u3093\u306a\u306b\u5171\u6709\u3059\u308b\u3053\u3068\uff0e\u3059\u3067\u306b\u89e3\u6c7a\u3057\u305f\u3068\u601d\u308f\u308c\u3066\u3044\u305f\u30d0\u30b0\u306e\u767a\u898b\u3084\u81f4\u547d\u7684\u306a\u6b20\u9665\u304c\u3042\u308b\u307e\u307e\u958b\u767a\u3092\u9032\u3081\u306a\u3044\u3088\u3046\u306b\uff0c\u3059\u3050\u306b\u82bd\u3092\u3064\u3080\uff0e","title":"6 development policy"},{"location":"6_development_policy/#6-development-policy","text":"\u672c\u7ae0\u3067\u306fClimbLab\u3092\u4f7f\u3063\u3066\u958b\u767a\u3092\u304a\u3053\u306a\u3046\u5834\u5408\u306e\u6ce8\u610f\u70b9\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e \u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u6210\u3057\u305f\u308a\u6a5f\u80fd\u3092\u8ffd\u52a0\u3059\u308b\u5834\u5408\u306f\uff0c\u6b21\u306e\u53d6\u308a\u6c7a\u3081\u3092\u5b88\u3063\u3066\u304a\u3053\u306a\u3046\uff0e\u57fa\u672c\u7684\u306a\u30b3\u30f3\u30bb\u30d7\u30c8\u3068\u3057\u3066\uff0c\u30b7\u30f3\u30d7\u30eb\uff0c\u304b\u3064\u4eca\u5f8c\u3082\u958b\u767a\u3092\u7d9a\u3051\u3084\u3059\u3044\u3088\u3046\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u306e\u30d5\u30a9\u30fc\u30de\u30c3\u30c8\u3092\u5b88\u308a\uff0c\u304b\u3064\u8ab0\u304c\u8aad\u3093\u3067\u3082\u8aad\u307f\u3084\u3059\u304f\u7406\u89e3\u3057\u3084\u3059\u3044\u3088\u3046\u306b\u66f8\u304f\u3053\u3068\u3092\u5fc3\u304c\u3051\u308b\uff0e \u3000\u3053\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u306e\u7406\u5ff5\u3092\u5b88\u308b\u3053\u3068\u306f\u975e\u5e38\u306b\u91cd\u8981\u3067\u3042\u308a\uff0c\u305d\u306e\u305f\u3081\u306b\u91cd\u8981\u306a\u3053\u3068\u3068\u3057\u3066\uff0c\u65e2\u5b58\u306e main_sim \u4ee5\u5916\u306e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u7528Main\u95a2\u6570\u306f\u4f5c\u6210\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u305f\u308b\u6240\u4ee5\u306f\uff0c\u300c1\u3064\u306e\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u3067\u591a\u69d8\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u53ef\u80fd\u3067\u3042\u308b\u300d\u3053\u3068\u306b\u3042\u308b\u305f\u3081\uff0c\u305d\u306e\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u3092\u5897\u3084\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u305d\u306e\u305f\u3081\uff0c\u65b0\u305f\u306a\u95a2\u6570\u3084\u6a5f\u80fd\u3092\u4f5c\u6210\u3059\u308b\u5834\u5408\u3082\uff0c\u65e2\u5b58\u306e main_sim \u306b\u7d44\u307f\u8fbc\u3080\u5f62\u3067\u5fc5\u305a\u5b9f\u88c5\u3059\u308b\uff0e \u65b0\u3057\u3044\u6a5f\u80fd\u3092\u691c\u8a3c\u3057\u306a\u304c\u3089\u5b9f\u88c5\u3059\u308b\u969b\uff0c\u6b21\u306e\u70b9\u306b\u6ce8\u610f\u3059\u308b\u3068\u958b\u767a\u304c\u30b9\u30e0\u30fc\u30ba\u306b\u9032\u3080\u305f\u3081\uff0c\u5fc5\u8981\u3067\u306f\u306a\u3044\u8a2d\u5b9a\u306foff\u306b\u3059\u308b\u3068\u3088\u3044\uff0e * dynamics\u304c\u5fc5\u8981\u3067\u306a\u3044\u5834\u5408\u306f\uff0cdynamics\u3092off\u306b\u3059\u308b * \u6b69\u884c\u3059\u308b\u5fc5\u8981\u304c\u306a\u3044\u5834\u5408\uff0cgait type\u3092\u2019do_nothing\u2019\u306b\u3059\u308b * \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u4f55\u79d2\u3082\u56de\u3059\u5fc5\u8981\u304c\u306a\u3044\u5834\u5408\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u6700\u5927\u6642\u9593\u30920\u79d2\u306b\u3059\u308b\uff0e \u307e\u305f\uff0c\u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u308b\u5834\u5408\u306e\u95a2\u6570\u306e\u7f6e\u304d\u5834\u6240\u306b\u3064\u3044\u3066\u306f\uff0c4\u7ae0\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3092\u53c2\u8003\u306b\uff0c\u5171\u901a\u3057\u305f\u5f79\u5272\u3067\u304f\u304f\u3089\u308c\u308b\u9069\u5207\u306a\u30d5\u30a9\u30eb\u30c0\u306b\u7f6e\u304f\uff0e \u305d\u306e\u6642\u306e\uff0c\u95a2\u6570\u306e\u547d\u540d\u65b9\u6cd5\u306b\u3064\u3044\u3066\u4ee5\u4e0b\u306e\u70b9\u306b\u6ce8\u610f\u3059\u308b\uff0e \u30b9\u30cd\u30fc\u30af\u30b1\u30fc\u30b9\u3092\u7528\u3044\u308b \u2715 updGiaCalculation.m \u3007 upd_gia_calulation.m \u95a2\u6570\u540d\u306b\u5927\u6587\u5b57\u306f\u4f7f\u308f\u306a\u3044 \u2715 upd_GIA_calculation.m \u3007 upd_gia_calculation.m \u95a2\u6570\u306e\u63a5\u982d\u8f9e\u3092\uff0c\u6b21\u306e\u65e2\u5b58\u306e\u95a2\u6570\u306e\u547d\u540d\u65b9\u6cd5\u306b\u306e\u3063\u3068\u3063\u3066\u63a1\u7528\u3059\u308b config_: 2.4\u7bc0\u53c2\u7167\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u8a2d\u5b9a\u306b\u95a2\u308f\u308b\u95a2\u6570\uff0e ini_: 2.5\u7bc0\u53c2\u7167\uff0e\u30ed\u30dc\u30c3\u30c8\u3084\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u306e\u521d\u671f\u8a2d\u5b9a\u306b\u95a2\u308f\u308b\u95a2\u6570 upd_: 2.6\u7bc0\u53c2\u7167\uff0e\u30eb\u30fc\u30d7\u5185\u3067\uff0c\u6b69\u5bb9\u3084\u5236\u5fa1\u30fb\u529b\u5b66\u306b\u95a2\u308f\u308b\u95a2\u6570 vis_: 2.7\u7bc0\u53c2\u7167\uff0e\u56f3\u306e\u63cf\u753b\u306b\u95a2\u308f\u308b\u95a2\u6570 sav_: 2.8\u7bc0\u53c2\u7167\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5c65\u6b74\u306e\u4fdd\u5b58\u306b\u95a2\u308f\u308b\u95a2\u6570 main_ : 3\u7ae0\u53c2\u7167\uff0e\u5358\u4f53\u3067\u5b9f\u884c\u3057\u3066climblab\u306e\u958b\u767a\u306b\u6709\u7528\u306a\u95a2\u6570\u306b\u4ed8\u3051\u308b \u95a2\u6570\u306e\u540d\u524d\u306f\u3069\u3093\u306a\u306b\u9577\u304f\u306a\u3063\u3066\u3082\u69cb\u308f\u306a\u3044\u306e\u3067\uff0c\u305d\u306e\u95a2\u6570\u304c\u3069\u3046\u3044\u3046\u6a5f\u80fd\u3092\u6709\u3057\u3066\u3044\u308b\u306e\u304b\u5206\u304b\u308b\u3088\u3046\u306b\u66f8\u304f\uff0e \u4e0a\u8a18\u306e\u30eb\u30fc\u30eb\u306b\u306e\u3063\u3068\u3063\u3066\u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u6210\u3057\u305f\u5f8c\u306e\uff0c\u5177\u4f53\u7684\u306a\u30b3\u30fc\u30c9\u306e\u8a18\u8ff0\u30eb\u30fc\u30eb\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0e\u4ee5\u964d\u306e\u5185\u5bb9\u306f\u65b0\u305f\u306a\u6a5f\u80fd\u306e\u5b9f\u88c5\u306e\u969b\u306b\u3082\u5171\u901a\u3059\u308b\u6ce8\u610f\u4e8b\u9805\u3067\u3042\u308b\uff0e","title":"6. Development Policy"},{"location":"6_development_policy/#1","text":"\u3053\u306e\u5192\u982d\u306e\u8a18\u8ff0\u3092\u8aad\u3080\u3060\u3051\u3067\uff0c\u305d\u306e\u95a2\u6570\u306e\u304a\u304a\u307e\u304b\u306a\u6a5f\u80fd\u304c\u628a\u63e1\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\uff0e \u8a18\u8ff0\u3059\u308b\u9805\u76ee\u306f\uff0c \u95a2\u6570\u306e\u304f\u304f\u308a(configuration/update/visualize/save/main) \u95a2\u6570\u540d \u95a2\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u4f5c\u6210\u65e5\u6642 \u4f5c\u6210\u8005 \u6700\u7d42\u7de8\u96c6\u65e5\u6642 \u6700\u7d42\u7de8\u96c6\u8005 \u95a2\u6570\u306e\u8a73\u7d30\u306a\u8aac\u660e \u51fa\u529b\u5909\u6570\u306e\u4e00\u89a7\u3068\uff0c\u5404\u5909\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u5165\u529b\u5909\u6570\u306e\u4e00\u89a7\u3068\uff0c\u5404\u5909\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u3067\u3042\u308b\uff0e\u4ee5\u4e0b\u306b\u8a18\u8ff0\u4f8b\u3092\u793a\u3059\uff0e 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 %%%%%% Configuration %%%%%% config_save_settings %%%%%% %%%%%% Configure default saving settings %%%%%% %%%%%% Created 2020 - 07 - 08 %%%%%% Warley Ribeiro %%%%%% Last update : 2021 - 03 - 31 %%%%%% Keigo Haji % % % Load default configurations for saving % % Function variables : % % OUTPUT % save_settings : Data saving settings ( struct ) % INPUT % -","title":"1. \u65b0\u3057\u3044\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u306e\u5192\u982d\u306b\u305d\u306e\u95a2\u6570\u306e\u4ed5\u69d8\u306b\u3064\u3044\u3066\u660e\u78ba\u306b\u8a18\u8f09\u3059\u308b\uff0e"},{"location":"6_development_policy/#2-main_simmain_sim","text":"\u3053\u308c\u306f\uff0cClimbLab\u304c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u6a5f\u80fd\u3057\u3066\u3044\u304f\u305f\u3081\u306bmain_sim\u306e\u4e00\u822c\u6027\u3092\u62c5\u4fdd\u3059\u308b\u305f\u3081\u3067\u3042\u308b\uff0e\u307e\u305f\uff0c\u540c\u6642\u306bmain_sim\u3092\u8907\u6570\u4eba\u304c\u7de8\u96c6\u3059\u308b\u3068Git\u306emerge\u306e\u969b\u306bconflict\u304c\u767a\u751f\u3057\u3084\u3059\u304f\u306a\u308b\u306e\u3067\uff0c\u305d\u306e\u554f\u984c\u3092\u907f\u3051\u308b\u3068\u3044\u3046\u76ee\u7684\u3082\u3042\u308b\uff0e \u60aa\u3044\u4f8b\uff09main_sim\u5185\u306b\u76f4\u63a5\u5b9f\u88c5 1 2 3 4 5 6 7 8 9 10 MAIN_FILE . m ... disp ( time ); if gait_param . type = \u2018 new_gait \u2019 new_gait ( ... ) else path_planning_param = upd_path_planning ( ... ); end [ motion_planning_param , des_SV ] = upd_motion_planning ( ... ); ... \u826f\u3044\u4f8b\uff09main_sim\u306f\u305d\u306e\u307e\u307e\u306b\uff0cupd\u95a2\u6570\u5185\u3067\u5834\u5408\u5206\u3051\u3092\u304a\u3053\u306a\u3063\u3066\u3044\u308b 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 MAIN_FILE . m ... disp ( time ); path_planning_param = upd_path_planning ( ... ); [ motion_planning_param , des_SV ] = upd_motion_planning ( ... ); ... FUNCTION_FILE . m function path_planning_param = upd_path_planning ( ... ) switch gait_param . type case \u2018 new_gait \u2019 new_gait ( ... ); case \u2018 old_gait \u2019 ...","title":"2. \u3080\u3084\u307f\u306bmain_sim\u5185\u306b\u65b0\u305f\u306a\u95a2\u6570\u306e\u8a18\u8ff0\u3092\u5897\u3084\u3055\u305a\uff0cmain_sim\u5185\u3067\u5b9f\u884c\u3055\u308c\u3066\u3044\u308b\u65e2\u5b58\u306e\u95a2\u6570\u5185\u306b\u7d44\u307f\u8fbc\u3080\u5f62\u3067\u65b0\u305f\u306a\u6a5f\u80fd\u3092\u5b9f\u88c5\u3059\u308b\uff0e"},{"location":"6_development_policy/#3-class","text":"\u5927\u91cf\u306e\u30ed\u30fc\u30ab\u30eb\u5909\u6570\u3092\u95a2\u6570\u5185\u3067\u306a\u308b\u3079\u304f\u6271\u308f\u306a\u3044\u3088\u3046\u306b\u3059\u308b\uff0e\u3053\u308c\u306fMATLAB\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u5185\u3067\u306e\u5909\u6570\u306e\u628a\u63e1\u304c\u96e3\u3057\u304f\u306a\u308b\u305f\u3081\u3067\u3042\u308b\uff0e\u5909\u6570\u306e\"\u304f\u304f\u308a\"\u3092\u8003\u3048\u3066\uff0c\u65e2\u5b58\u306eclass\u306b\u3042\u3066\u306f\u307e\u308b\u5834\u5408\u306f\u65e2\u5b58\u306eclass( gait_planning_param , motion_planning_param \u7b49)\u306b\u53ce\u5bb9\u3057\uff0c\u306a\u3044\u5834\u5408\u306f\u81ea\u5206\u306e\u6a5f\u80fd\u306b\u3042\u3063\u305f\u65b0\u305f\u306aclass\u3092\u4f5c\u6210\u3059\u308b\u3053\u3068\uff0e \u60aa\u3044\u4f8b\uff09local\u5909\u6570\u304c\u591a\u3044\uff0e 1 2 3 4 5 6 7 8 ... leg1_des_pos = \u2026 leg2_des_pos = \u2026 leg3_des_pos = \u2026 leg4_des_pos = \u2026 base_des_pos = ... generate_trajectory ( leg1_des_pos , leg2_des_pos , leg3_des_pos , leg4_des_pos , base_des_pos ); ... \u3044\u3044\u4f8b\uff09\u5909\u6570\u304cclass\u306b\u5206\u985e\u3055\u308c\u3066\u3044\u308b 1 2 3 4 5 ... path_planning_param . leg_des_pos = \u2026 path_planning_param . base_des_pos = \u2026 generate_trajectory ( path_planning_param ); ...","title":"3. \u5909\u6570\u306f\u306a\u308b\u3079\u304fclass\u306b\u53ce\u5bb9\u3059\u308b"},{"location":"6_development_policy/#4","text":"\u5909\u6570\u540d\u306f\u3069\u3093\u306a\u306b\u9577\u304f\u306a\u3063\u3066\u3082\u3044\u3044\u306e\u3067\uff0c\u8ab0\u306b\u3067\u3082\u308f\u304b\u308b\u3088\u3046\u306b\u4ed8\u3051\u308b\uff0e\u5909\u6570\u540d\u306e\u4ed8\u3051\u65b9\u306f\u95a2\u6570\u3068\u540c\u3058\u304f\uff0csnake_case\u3067\u7d71\u4e00\u3057\uff0ccamelCase\u306f\u4f7f\u308f\u306a\u3044\uff0e\u307e\u305f\uff0c\u305d\u306e\u5909\u6570\u304c\u3069\u3046\u3044\u3046\u5024\u3092\u53ce\u5bb9\u3057\uff0c\u305d\u306e\u5358\u4f4d(\u6b21\u5143)\u306f\u306a\u3093\u306a\u306e\u304b\u3092\u30b3\u30e1\u30f3\u30c8\u3067\u660e\u8a18\u3059\u308b\uff0e \u60aa\u3044\u4f8b\uff09\u4eba\u304c\u8aad\u3093\u3067\u3082\u4f55\u306e\u7565\u79f0\u304b\u308f\u304b\u3089\u306a\u3044 1 2 3 4 5 ... L1 = \u2026 WP . T = \u2026 GPM = ... ... \u3044\u3044\u4f8b\uff09\u30b3\u30e1\u30f3\u30c8\u3084\u5909\u6570\u540d\u304b\u3089\u4f55\u306e\u5024\u304c\u3069\u3046\u3044\u3046\u5358\u4f4d\u6b21\u5143\u3067\u53ce\u5bb9\u3055\u308c\u3066\u3044\u308b\u304b\u5206\u304b\u308b 1 2 3 4 5 6 7 8 \u2026 % Desired position of a leg [m] motion_planning_param . des_leg_pos = \u2026 % Period for crawl gait [s] gait_parameter . T = \u2026 % Grippable points [m] surface_param . grippable_points = ... ...","title":"4. \u5909\u6570\u540d\u3092\u308f\u304b\u308a\u3084\u3059\u304f\u3064\u3051\u308b"},{"location":"6_development_policy/#5","text":"\u65b0\u3057\u3044\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u5f8c\u306f\uff0c\u30d1\u30e9\u30e1\u30fc\u30bf\u3084\u8a2d\u5b9a\u3092\u5909\u3048\u3066\u30c6\u30b9\u30c8\u3092\u7e70\u308a\u8fd4\u3057\uff0c\u30d0\u30b0\u304c\u767a\u751f\u3057\u306a\u3044\u3053\u3068\u3092\u78ba\u304b\u3081\u3066\u304b\u3089\u4e0a\u7d1a\u751f\u306bReview\u3092\u304a\u9858\u3044\u3059\u308b\uff0e","title":"5. \u65b0\u3057\u3044\u6a5f\u80fd\u306e\u5b9f\u88c5\u5f8c\u306f\uff0c\u5fc5\u305a\u7e70\u308a\u8fd4\u3057\u30c6\u30b9\u30c8\u3092\u304a\u3053\u306a\u3046"},{"location":"6_development_policy/#6-preset","text":"\u65b0\u305f\u306a\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u3053\u3068\u3067\uff0c\u3053\u308c\u307e\u306epreset\u304c\u56de\u3089\u306a\u304f\u306a\u3063\u305f\u308a\uff0c\u4ed6\u306e\u958b\u767a\u8005\u306e\u958b\u767a\u74b0\u5883\u3068\u5e72\u6e09\u3059\u308b\u6050\u308c\u304c\u3042\u308b\u305f\u3081\uff0cconfig\u8a2d\u5b9a\u3092\u65e2\u5b58\u306epreset\u306b\u3057\u3066\u5168\u3066\u306epreset\u3092\u5b9f\u884c\u3057\uff0c\u554f\u984c\u306a\u304f\u5b9f\u884c\u3055\u308c\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b\uff0e","title":"6. \u65b0\u3057\u3044\u6a5f\u80fd\u306e\u5b9f\u88c5\u5f8c\u306f\uff0c\u65e2\u5b58\u306epreset\u3067\u3082\u5b9f\u884c\u3057\uff0c\u554f\u984c\u304c\u306a\u3044\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b"},{"location":"6_development_policy/#7","text":"\u3069\u3093\u306a\u95a2\u6570\u3067\u3042\u308c\uff0c\u3080\u3084\u307f\u306b\u524a\u9664\u3057\u306a\u3044\uff0e\u65b0\u305f\u306a\u6a5f\u80fd\u306b\u3088\u3063\u3066\uff0c\u6b69\u884c\u304c\u5b89\u5b9a\u3057\u305f\u308a\u901f\u304f\u306a\u3063\u305f\u308a\u3059\u308b\u3088\u3046\u306a\u4f55\u304b\u7d50\u679c\u304c\u3088\u304f\u306a\u308b\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u3068\u3057\u3066\u3082\uff0c\u524d\u307e\u3067\u3042\u3063\u305f\u95a2\u6570\u306f\u7d76\u5bfe\u306b\u524a\u9664\u3057\u306a\u3044\uff0e\u65e2\u5b58\u306e\u95a2\u6570\u306f\uff0c\u3053\u308c\u307e\u3067\u306e\u8ca1\u7523\u3067\u3042\u308a\uff0c\u78ba\u5b9f\u306b\u3053\u308c\u307e\u3067\u7a3c\u52d5\u3057\u3066\u3044\u305f\u3068\u3044\u3046\u70b9\u3067\u975e\u5e38\u306b\u6709\u7528\u306a\u3082\u306e\u3067\u3042\u308b\uff0e\u624b\u6cd5\u306e\u6bd4\u8f03\u3092\u304a\u3053\u306a\u3046\u969b\u3084\uff0c\u307e\u305f\u30b7\u30f3\u30d7\u30eb\u306a\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306e\u65b9\u304c\u7406\u89e3\u3057\u3084\u3059\u3044\u3068\u3044\u3046\u70b9\u3067\u597d\u307e\u308c\uff0c\u5fc5\u8981\u3068\u3055\u308c\u308b\u5834\u5408\u3082\u3042\u308b\uff0e\u305d\u308c\u307e\u3067\u306e\u95a2\u6570\u3092\u524a\u9664\u30fb\u66f4\u65b0\u3059\u308b\u306e\u3067\u306f\u306a\u304f\uff0c\u65b0\u305f\u306a\u6a5f\u80fd\u30fb\u30b1\u30fc\u30b9\u3092\u8ffd\u52a0\u3059\u308b\u3068\u3044\u3046\u70b9\u3092\u610f\u8b58\u3057\uff0c\u65e2\u5b58\u306e\u95a2\u6570\u30fb\u65b0\u305f\u306a\u6a5f\u80fd\u306e\u4e21\u65b9\u304c\u6271\u3048\u308b\u3088\u3046\u306b\u958b\u767a\u3092\u9032\u3081\u308b\uff0e","title":"7. \u95a2\u6570\u3092\u6d88\u3055\u306a\u3044"},{"location":"6_development_policy/#8","text":"ClimbLab\u306f\u5e38\u306b\u8907\u6570\u540d\u304c\u540c\u6642\u306b\u958b\u767a\u3092\u3059\u3059\u3081\u3066\u3044\u308b\uff0e\u305d\u306e\u305f\u3081\uff0c\u81ea\u5206\u304c\u958b\u767a\u3092\u3057\u3066\u3044\u308b\u9593\u306b\uff0c\u8ab0\u304b\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u304c\u958b\u767a\u3092\u7d42\u308f\u3089\u305b\u3066\u65b0\u6a5f\u80fd\u3092\u5b9f\u88c5\u3059\u308b\u3053\u3068\u304c\u3088\u304f\u767a\u751f\u3059\u308b\uff0e\u3053\u306e\u969b\uff0cdevelop\u30d6\u30e9\u30f3\u30c1\u306erebase\u3092\u5e38\u306b\u304a\u3053\u306a\u3046\u3053\u3068\uff0e\u81ea\u5206\u304c\u958b\u767a\u6bb5\u968e\u3067\u63a1\u7528\u3057\u3066\u3044\u305f\u95a2\u6570\u304c\uff0c\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306e\u5b9f\u88c5\u306b\u3088\u3063\u3066\u4e00\u90e8\u5909\u66f4\u3055\u308c\u3066\u3044\u308b\u53ef\u80fd\u6027\u304c\u3042\u308b\u305f\u3081\uff0c\u5e38\u306b\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306e\u958b\u767a\u72b6\u6cc1\u306b\u3064\u3044\u3066\u628a\u63e1\u3059\u308b\uff0e\u4e00\u65b9\u3067\uff0c\u5f53\u7136\uff0c\u81ea\u5206\u306e\u5b9f\u88c5\u304c\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306b\u3082\u5f71\u97ff\u3092\u4e0e\u3048\u308b\u305f\u3081\uff0c\u5e38\u306b\u5831\u544a\u30fb\u9023\u7d61\u30fb\u76f8\u8ac7\u3092\u5fd8\u308c\u306a\u3044\uff0e","title":"8. \u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u3082\u540c\u6642\u9032\u884c\u3067\u958b\u767a\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u5fd8\u308c\u306a\u3044"},{"location":"6_development_policy/#9","text":"\u4e0a\u3067\u3082\u8ff0\u3079\u305f\u3068\u304a\u308a\uff0c\u81ea\u5206\u306e\u5b9f\u88c5\u306f\u4ed6\u4eba\u306e\u958b\u767a\u306b\u5f71\u97ff\u3092\u4e0e\u3048\u308b\uff0e\u305d\u306e\u305f\u3081\uff0c\u4f55\u304b\u65b0\u3057\u3044\u6a5f\u80fd\u306e\u958b\u767a\u3092\u7d42\u3048\u305f\u3089\uff0c\u305d\u306e\u5b9f\u88c5\u306b\u3088\u3063\u3066\u3069\u3093\u306a\u70b9\u304c\u5909\u66f4\u3055\u308c\u305f\u306e\u304b\u3092\uff0c\u305d\u306e\u4f5c\u696d\u306e\u5f53\u4e8b\u8005\u3067\u306f\u306a\u3044\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u9054\u306b\u3082\u308f\u304b\u308a\u3084\u3059\u304f\u5171\u6709\u3059\u308b\uff0e","title":"9. \u81ea\u5206\u306e\u304a\u3053\u306a\u3063\u305f\u5909\u66f4\u70b9\u3092\u308f\u304b\u308a\u3084\u3059\u304f\u30e1\u30f3\u30d0\u30fc\u306b\u5171\u6709\u3059\u308b"},{"location":"6_development_policy/#10","text":"\u540c\u3058\u7591\u554f\u3092\u4ed6\u306e\u958b\u767a\u30e1\u30f3\u30d0\u30fc\u3082\u62b1\u3044\u3066\u3044\u305f\u308a\uff0c\u3082\u3057\u304f\u306f\u3059\u3067\u306b\u89e3\u6c7a\u3057\u305f\u7d4c\u9a13\u304c\u3042\u308b\u304b\u3082\u3057\u308c\u306a\u3044\uff0e\u307e\u305f\u306f\uff0c\u305d\u306e\u554f\u984c\u3092\u89e3\u6c7a\u3059\u308b\u3088\u3046\u306a\u6a5f\u80fd\u3092\u65b0\u305f\u306b\u5225\u306e\u30e1\u30f3\u30d0\u30fc\u304c\u5b9f\u88c5\u3057\u3066\u304f\u308c\u308b\u304b\u3082\u3057\u308c\u306a\u3044\uff0e","title":"10. \u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u3068\u7591\u554f\u70b9\u30fb\u554f\u984c\u70b9\u3092\u5171\u6709\u3059\u308b"},{"location":"6_development_policy/#11","text":"\u958b\u767a\u4e2d\u306b\u30d0\u30b0\u3092\u898b\u3064\u3051\u305f\u3089\uff0c\u307f\u3093\u306a\u306b\u5171\u6709\u3059\u308b\u3053\u3068\uff0e\u3059\u3067\u306b\u89e3\u6c7a\u3057\u305f\u3068\u601d\u308f\u308c\u3066\u3044\u305f\u30d0\u30b0\u306e\u767a\u898b\u3084\u81f4\u547d\u7684\u306a\u6b20\u9665\u304c\u3042\u308b\u307e\u307e\u958b\u767a\u3092\u9032\u3081\u306a\u3044\u3088\u3046\u306b\uff0c\u3059\u3050\u306b\u82bd\u3092\u3064\u3080\uff0e","title":"11. \u898b\u3064\u3051\u305f\u30d0\u30b0\u3092\u5831\u544a\u3059\u308b"},{"location":"appendix/","text":"Appendix The followings are the representative publications from our team. [1] K.Yoshida: \" The SpaceDyn: a MATLAB toolbox for space and mobile robots ,\" Proc. 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , pp. 1633--1638, 1999. [2] Y. Umetani and K. Yoshida: \"Resolved motion rate control of space manipulators with generalized Jacobian matrix,\" IEEE Transactions on Robotics and Automation , vol. 5, no. 3, pp. 303--314, 1989. [3] K. Yoshida: \"A General Formulation for Under-Actuated Manipulators,\" Proc. 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , pp. 1651--1657, 1997.","title":"Appendix"},{"location":"appendix/#appendix","text":"The followings are the representative publications from our team. [1] K.Yoshida: \" The SpaceDyn: a MATLAB toolbox for space and mobile robots ,\" Proc. 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , pp. 1633--1638, 1999. [2] Y. Umetani and K. Yoshida: \"Resolved motion rate control of space manipulators with generalized Jacobian matrix,\" IEEE Transactions on Robotics and Automation , vol. 5, no. 3, pp. 303--314, 1989. [3] K. Yoshida: \"A General Formulation for Under-Actuated Manipulators,\" Proc. 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , pp. 1651--1657, 1997.","title":"Appendix"},{"location":"basics/","text":".katex img { object-fit: fill; padding: unset; display: block; position: absolute; width: 100%; height: inherit; } Basics for SpaceDyn Equation of motion (EOM) for floating-based system To be added... Generalized Jacobian [2] To be added... Note If you use Genralized Jacobian in an academic context, please put the following citation. [2] Y. Umetani and K. Yoshida, Resolved motion rate control of space manipulators with generalized Jacobian matrix, IEEE Transactions on Robotics and Automation , vol. 5, no. 3, pp. 303--314, 1989. 1 2 3 4 5 6 7 8 9 10 @ARTICLE { generalizedJacobian , author = { Umetani , Y . and Yoshida , K . } , journal = { IEEE Transactions on Robotics and Automation } , title = { Resolved motion rate control of space manipulators with generalized Jacobian matrix } , year = { 1989 } , volume = { 5 } , number = { 3 } , pages = { 303 -- 314 } , doi = { 10.1109 / 70.34766 } } Basic Knowledge for SpaceDyn User We assume the system composed of n+1 bodies and connected by n joints. Let the body 0 be a reference body . Multiple branches can attach on any single body , as far as the system keeps a topological tree configuration. There must be a single joint between two bodies. We call a terminal point or the point of interest such as manipulator hand as endpoint. Each body, except body 0, can have one endpoint at maximum. In this document, the terms body and link are the same. The SpaceDyn allows force/torque input on (i) the centroid of the reference body, (ii) each endpoint, and (iii) each joint. The toolbox computes the position, velocity and acceleration of (1) the centroid of the reference body, (2) the centroid of each body, (3) each endopoint, and (4) each joint. Computation of input force/torque are open to user programming. You can arbitrary decide each joint as either active or passive one. If you give always zero torque, such as \u03c4 0 = 0 \\tau_0 = 0 \u03c4 0 \u200b = 0 , the corresponding joint behaves as a free joint. Or if you give such a torque as: \u03c4 i = \u2212 K q i \u2212 D q \u02d9 i \\tau_i = - K q_i - D \\dot{q}_i \u03c4 i \u200b = \u2212 K q i \u200b \u2212 D q \u02d9 \u200b i \u200b the joint behaves as a passive visco-elastic joint. You can treat even a flexible link, by modeling it as a discrete successive chain of rigid links connected by elastic joints. Of course, you can give any arbitrary control torque determined by your own control law, on all or arbitrary selected joints. We know that the Denavit-Hartenberg (DH) notation is commonly used in the field of manipulator kinematics with the advantage of unique allocation of coordinate systems with minimum parameters, but we know that the DH sometimes locates the coordinate ofitin away from the location of an actual joint. From the dynamics point of view, the angular velocity and the inertia tensor should be defined around the corresponding joint axis or body centroid. We then do NOT use the DH notation but introduce a rule to define the coordinate system with more flexibility. Note We do NOT use the DH notation in SpaceDyn. Our rule locates the origin of the coordinate systems with more flexibility. Our rule locates the origin of the frame on each joint and orients the primary axes so that the inertia tensor should be simpler, but admits three position and three orientation parameters among two successive coordinate systems. For the representation of attitude or orientation, we use 3 by 3 direction cosine matrices. The advantage of direction cosine is (1) singularity free, (2) we can easily defive Roll-Pitch-Yaw angles, Euler angles, or quartanions, and (3) it is easy to find the mathematical relationship with angular velocity. On the other hand, we frequently need Roll-Pitch-Yaw (RPY) replresentation also. For example, in order to express the twisting angles between two coordinate systems, we consider \u03b1 \\alpha \u03b1 (roll) around x x x -axis, \u03b2 \\beta \u03b2 (pitch) around y y y -axis, then \u03b3 \\gamma \u03b3 (yaw) around z z z -axis. Weak points: The SpaceDyn is not good at dealing with kinematic constraints other than joint axes. It is also weak at dealing with the problems in which a contact point is dynamically changing. For those problems, a good user programming is required to model the constraint forces.","title":"Basics"},{"location":"basics/#basics-for-spacedyn","text":"","title":"Basics for SpaceDyn"},{"location":"basics/#equation-of-motion-eom-for-floating-based-system","text":"To be added...","title":"Equation of motion (EOM) for floating-based system"},{"location":"basics/#generalized-jacobian-2","text":"To be added... Note If you use Genralized Jacobian in an academic context, please put the following citation. [2] Y. Umetani and K. Yoshida, Resolved motion rate control of space manipulators with generalized Jacobian matrix, IEEE Transactions on Robotics and Automation , vol. 5, no. 3, pp. 303--314, 1989. 1 2 3 4 5 6 7 8 9 10 @ARTICLE { generalizedJacobian , author = { Umetani , Y . and Yoshida , K . } , journal = { IEEE Transactions on Robotics and Automation } , title = { Resolved motion rate control of space manipulators with generalized Jacobian matrix } , year = { 1989 } , volume = { 5 } , number = { 3 } , pages = { 303 -- 314 } , doi = { 10.1109 / 70.34766 } }","title":"Generalized Jacobian [2]"},{"location":"basics/#basic-knowledge-for-spacedyn-user","text":"We assume the system composed of n+1 bodies and connected by n joints. Let the body 0 be a reference body . Multiple branches can attach on any single body , as far as the system keeps a topological tree configuration. There must be a single joint between two bodies. We call a terminal point or the point of interest such as manipulator hand as endpoint. Each body, except body 0, can have one endpoint at maximum. In this document, the terms body and link are the same. The SpaceDyn allows force/torque input on (i) the centroid of the reference body, (ii) each endpoint, and (iii) each joint. The toolbox computes the position, velocity and acceleration of (1) the centroid of the reference body, (2) the centroid of each body, (3) each endopoint, and (4) each joint. Computation of input force/torque are open to user programming. You can arbitrary decide each joint as either active or passive one. If you give always zero torque, such as \u03c4 0 = 0 \\tau_0 = 0 \u03c4 0 \u200b = 0 , the corresponding joint behaves as a free joint. Or if you give such a torque as: \u03c4 i = \u2212 K q i \u2212 D q \u02d9 i \\tau_i = - K q_i - D \\dot{q}_i \u03c4 i \u200b = \u2212 K q i \u200b \u2212 D q \u02d9 \u200b i \u200b the joint behaves as a passive visco-elastic joint. You can treat even a flexible link, by modeling it as a discrete successive chain of rigid links connected by elastic joints. Of course, you can give any arbitrary control torque determined by your own control law, on all or arbitrary selected joints. We know that the Denavit-Hartenberg (DH) notation is commonly used in the field of manipulator kinematics with the advantage of unique allocation of coordinate systems with minimum parameters, but we know that the DH sometimes locates the coordinate ofitin away from the location of an actual joint. From the dynamics point of view, the angular velocity and the inertia tensor should be defined around the corresponding joint axis or body centroid. We then do NOT use the DH notation but introduce a rule to define the coordinate system with more flexibility. Note We do NOT use the DH notation in SpaceDyn. Our rule locates the origin of the coordinate systems with more flexibility. Our rule locates the origin of the frame on each joint and orients the primary axes so that the inertia tensor should be simpler, but admits three position and three orientation parameters among two successive coordinate systems. For the representation of attitude or orientation, we use 3 by 3 direction cosine matrices. The advantage of direction cosine is (1) singularity free, (2) we can easily defive Roll-Pitch-Yaw angles, Euler angles, or quartanions, and (3) it is easy to find the mathematical relationship with angular velocity. On the other hand, we frequently need Roll-Pitch-Yaw (RPY) replresentation also. For example, in order to express the twisting angles between two coordinate systems, we consider \u03b1 \\alpha \u03b1 (roll) around x x x -axis, \u03b2 \\beta \u03b2 (pitch) around y y y -axis, then \u03b3 \\gamma \u03b3 (yaw) around z z z -axis. Weak points: The SpaceDyn is not good at dealing with kinematic constraints other than joint axes. It is also weak at dealing with the problems in which a contact point is dynamically changing. For those problems, a good user programming is required to model the constraint forces.","title":"Basic Knowledge for SpaceDyn User"},{"location":"c%2B%2B/","text":"SpaceDyn as a C++ library How to Use To be added ... API References To be added ...","title":"C++"},{"location":"c%2B%2B/#spacedyn-as-a-c-library","text":"","title":"SpaceDyn as a C++ library"},{"location":"c%2B%2B/#how-to-use","text":"To be added ...","title":"How to Use"},{"location":"c%2B%2B/#api-references","text":"To be added ...","title":"API References"},{"location":"index%20%28copy%29/","text":"Welcome to MkDocs For full documentation visit mkdocs.org . Commands mkdocs new [dir-name] - Create a new project. mkdocs serve - Start the live-reloading docs server. mkdocs build - Build the documentation site. mkdocs help - Print this help message. Project layout 1 2 3 4 mkdocs.yml # The configuration file. docs/ index.md # The documentation homepage. ... # Other markdown pages, images and other files. Examples Important Note We installed admonition for the important message such as cautions, note, and remarks. E.g.) Note This is an important message. Tip \u30d2\u30f3\u30c8\u3067\u3059\u3002 Warning \u3053\u308c\u306f\u8b66\u544a\u3067\u3059 Danger \u3053\u308c\u306f\u5371\u967a\u3067\u3059\u3002","title":"Welcome to MkDocs"},{"location":"index%20%28copy%29/#welcome-to-mkdocs","text":"For full documentation visit mkdocs.org .","title":"Welcome to MkDocs"},{"location":"index%20%28copy%29/#commands","text":"mkdocs new [dir-name] - Create a new project. mkdocs serve - Start the live-reloading docs server. mkdocs build - Build the documentation site. mkdocs help - Print this help message.","title":"Commands"},{"location":"index%20%28copy%29/#project-layout","text":"1 2 3 4 mkdocs.yml # The configuration file. docs/ index.md # The documentation homepage. ... # Other markdown pages, images and other files.","title":"Project layout"},{"location":"index%20%28copy%29/#examples","text":"","title":"Examples"},{"location":"index%20%28copy%29/#important-note","text":"We installed admonition for the important message such as cautions, note, and remarks. E.g.) Note This is an important message. Tip \u30d2\u30f3\u30c8\u3067\u3059\u3002 Warning \u3053\u308c\u306f\u8b66\u544a\u3067\u3059 Danger \u3053\u308c\u306f\u5371\u967a\u3067\u3059\u3002","title":"Important Note"},{"location":"matlab/","text":"SpaceDyn as a MATLAB toolbox SpaceDyn was originally created as MATLAB toolbox [1]. We developed this toolbox motivated and inspired by Robotics toolbox developed by Peter I. Corke. We took one m-file ( cross.m ) and use it as the original is, but SpaceDyn as a whole, does not have compatibility with the Peter's Robotics toolbox unfortunately. Note The MATLAB toolbox of Spacedyn requires MATLAB 5.0 or higher. (It uses functions that are not supported in 4.0 or lower.) Usage Just clone the repository, and copy all the MATLAB functions in SpaceDyn/src/matlab to your workspace, and use them to model your robot and calculate its kinematics and dynamics. Each-by-each m-file usage is detailed in the following quick reference shown later. Technical Note For mathematical symbols, we give the name of variables with more than two letters. For example, vector r and c are coded by RR and cc , respectively This is to avoid the confusion with control variables such as i , j , k , or l , m , n , etc, which are frequently used as iteration or array counters. However, there is an exeption: the symbol q is used for the joint variable vector q . Since MATLAB doesn't allow 0 for array index, we use R0 and c0 instead of RR[0] and cc[0] , for example. For the representation of attitude or orientation, we use 3 by 3 direction cosine matrices, coded with a symbol A . For example, A0 is the direction cosines to represent the attitude of the body 0. For the other bodies, a matrix AA is used. For Roll-Pitch-Yaw (RPY) angles, we use the symbol Q . For example, in order to express the twisting angles between two coordinate systems, we consider $ \\alpha $ (roll) around $ x $-axis, $ \\beta $ (pitch) around $ y $-axis, then $ \\gumma $ (yaw) around $ z $-axis. The set of these angles are coded by Qi . We use both the input variables and the global variables to pass the values to m-file functions. The input variables inside the braces are the variables changing time to time, such as joint angles, positions, orientations, and so on. The global variables are the ones holding constant once the model is given, such as topological description matrices, kinematics and dynamic parameters. Quick Reference The interactive quick reference guide written in html is already available in our GitHub directory . Please download the repository spacedyn_reference and open index.html in web browser to get started. Original User Manual The original user manual is also avaliable. The Spacedyn - a MATLAB Toolbox for Space and Mobile Robots We heavily recommend the user to read this manual, which describe the development philosophy and programing rules, to understand the code, deeply.","title":"MATLAB"},{"location":"matlab/#spacedyn-as-a-matlab-toolbox","text":"SpaceDyn was originally created as MATLAB toolbox [1]. We developed this toolbox motivated and inspired by Robotics toolbox developed by Peter I. Corke. We took one m-file ( cross.m ) and use it as the original is, but SpaceDyn as a whole, does not have compatibility with the Peter's Robotics toolbox unfortunately. Note The MATLAB toolbox of Spacedyn requires MATLAB 5.0 or higher. (It uses functions that are not supported in 4.0 or lower.)","title":"SpaceDyn as a MATLAB toolbox"},{"location":"matlab/#usage","text":"Just clone the repository, and copy all the MATLAB functions in SpaceDyn/src/matlab to your workspace, and use them to model your robot and calculate its kinematics and dynamics. Each-by-each m-file usage is detailed in the following quick reference shown later.","title":"Usage"},{"location":"matlab/#technical-note","text":"For mathematical symbols, we give the name of variables with more than two letters. For example, vector r and c are coded by RR and cc , respectively This is to avoid the confusion with control variables such as i , j , k , or l , m , n , etc, which are frequently used as iteration or array counters. However, there is an exeption: the symbol q is used for the joint variable vector q . Since MATLAB doesn't allow 0 for array index, we use R0 and c0 instead of RR[0] and cc[0] , for example. For the representation of attitude or orientation, we use 3 by 3 direction cosine matrices, coded with a symbol A . For example, A0 is the direction cosines to represent the attitude of the body 0. For the other bodies, a matrix AA is used. For Roll-Pitch-Yaw (RPY) angles, we use the symbol Q . For example, in order to express the twisting angles between two coordinate systems, we consider $ \\alpha $ (roll) around $ x $-axis, $ \\beta $ (pitch) around $ y $-axis, then $ \\gumma $ (yaw) around $ z $-axis. The set of these angles are coded by Qi . We use both the input variables and the global variables to pass the values to m-file functions. The input variables inside the braces are the variables changing time to time, such as joint angles, positions, orientations, and so on. The global variables are the ones holding constant once the model is given, such as topological description matrices, kinematics and dynamic parameters.","title":"Technical Note"},{"location":"matlab/#quick-reference","text":"The interactive quick reference guide written in html is already available in our GitHub directory . Please download the repository spacedyn_reference and open index.html in web browser to get started.","title":"Quick Reference"},{"location":"matlab/#original-user-manual","text":"The original user manual is also avaliable.","title":"Original User Manual"},{"location":"matlab/#the-spacedyn-a-matlab-toolbox-for-space-and-mobile-robots","text":"We heavily recommend the user to read this manual, which describe the development philosophy and programing rules, to understand the code, deeply.","title":"The Spacedyn - a MATLAB Toolbox for Space and Mobile Robots"},{"location":"ros/","text":"4. How to Execute Simulation ClimbLab\u306fMATLAB\u3067\u8a18\u8ff0\u3055\u308c\u3066\u304a\u308a\uff0c\u5b9f\u884c\u306b\u306fMATALB\u3092\u4f7f\u7528\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e\u52d5\u4f5c\u78ba\u8a8d\u304c\u304a\u3053\u306a\u308f\u308c\u3066\u3044\u308bMATLAB\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u306f\uff0c\u672c\u8ad6\u6587\u57f7\u7b46\u6642(2022\u5e742\u67081\u65e5)\u306b\u304a\u3044\u3066\uff0cMATLAB R2019b\u3067\u3042\u308b\uff0e\u3088\u3063\u3066\uff0c\u5b9f\u884c\u306b\u306fR2019b\u4ee5\u964d\u306eMATLAB\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u74b0\u5883\u304c\u5fc5\u8981\u3067\u3042\u308b\uff0e\u307e\u305f\uff0cMATLAB Toolbox\u306b\u3064\u3044\u3066\u306f\uff0c\u57fa\u672c\u7684\u306b\u5fc5\u8981\u3068\u3057\u306a\u3044\u304c\uff0c\u3054\u304f\u4e00\u90e8\u306e\u6a5f\u80fd\u306b\u3064\u3044\u3066\u4ee5\u4e0b\u306eToolbox\uff1a Optimization Toolbox Robotics Toolbox Signal Processing Toolbox Reinforcement Learning Toolbox Deep Learning Toolbox \u304c\u4f7f\u7528\u3055\u308c\u308b\u305f\u3081\uff0c\u5fc5\u8981\u306a\u5834\u5408\u306f\u9069\u5b9c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e 4.1 How to execute main_sim.m main_sim.m \u3092\u5b9f\u884c\u3057\uff0c\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u624b\u9806\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e\u306a\u304a\uff0c\u5148\u306b\u8ff0\u3079\u305fMATLAB\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u74b0\u5883\u3092\u524d\u63d0\u3068\u3059\u308b\uff0e \u307e\u305a\u57fa\u672c\u8a2d\u5b9a\u3067\u3042\u308b\"default\"\u3067\u5b9f\u884c\u3059\u308b\u5834\u5408\u306f\uff0c GitHub\u3084BitBucket\u304b\u3089ClimbLab\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3059\u308b\uff0e MATLAB\u3092\u958b\u304f\uff0e \u30d5\u30a9\u30eb\u30c0/climblab/src\u4e0b\u306b\u304a\u304b\u308c\u3066\u3044\u308b main_sim.m \u3092\u958b\u304f\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u304c\"default\"\u306b\u8a2d\u5b9a\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b\uff0e MATLAB\u5185\u306e\u300c\u73fe\u5728\u306e\u30d5\u30a9\u30eb\u30c0\u300d\u3092 /climblab \u306b\u3059\u308b\uff0e main\\_sim.m \u3092\u5b9f\u884c\u3059\u308b\uff0e \u5b9f\u884c\u5f8c\uff0c\u300cmain_sim.m\u306f\u73fe\u5728\u306e\u30d5\u30a9\u30eb\u30c0\u30fc\u3084MATLAB\u30d1\u30b9\u4e0a\u3067\u898b\u3064\u304b\u308a\u307e\u305b\u3093\uff0e\u300d\u3068\u3044\u3046\u30a8\u30e9\u30fc\u304c\u51fa\u305f\u5834\u5408\u306f\uff0c\u300c\u30d1\u30b9\u306b\u8ffd\u52a0\u300d\u3092\u9078\u629e\u3059\u308b\uff0e \u3068\u3044\u3046\u624b\u9806\u306b\u3088\u3063\u3066\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u958b\u59cb\u3055\u308c\u308b\uff0e \u307e\u305f\u3053\u306e\"default\"\u304b\u3089\u81ea\u5206\u7528\u306b\u65b0\u305f\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u8a2d\u5b9a\u3092\u5909\u66f4\u3057\u3066\u8a66\u3059\u5834\u5408\u306b\u306f\uff0c \u30d5\u30a9\u30eb\u30c0 /climblab/config/USER \u4e0b\u306b\u304a\u304b\u308c\u3066\u3044\u308b config\\_USER\\_param\\_template.m \u3092\u30b3\u30d4\u30fc\u3057\uff0c\u540c\u3058\u30d5\u30a9\u30eb\u30c0\u306b\uff0c config_USER_param.m \u3068\u540d\u524d\u3092\u5909\u3048\u3066\u4f5c\u6210\u3059\u308b\uff0e config_USER_param.m \u5185\u306b\uff0cdefault\u304b\u3089\u5909\u66f4\u3057\u305f\u3044\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u8a2d\u5b9a\u3092\u66f8\u304d\u52a0\u3048\u308b\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u3092\"default\"\u304b\u3089\"USER\"\u306b\u5909\u66f4\u3059\u308b\uff0e main_sim.m \u3092\u5b9f\u884c\u3059\u308b\uff0e \u3068\u3044\u3046\u624b\u9806\u3067\u8a2d\u5b9a\u3092\u5909\u66f4\u3057\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u5909\u66f4\u3067\u304d\u308b\u8a2d\u5b9a\u306f\uff0c\u30d5\u30a9\u30eb\u30c0 config/default \u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\u5404class\u306e\u521d\u671f\u8a2d\u5b9a\u7528\u306e\u95a2\u6570\u306e\u4e2d\u8eab\u3092\u898b\u308b\u3053\u3068\u3067\u78ba\u8a8d\u3067\u304d\u308b\uff0e \u307e\u305f\uff0c\u81ea\u5206\u304c\u958b\u767a\u3092\u9032\u3081\u308b\u4e2d\u3067\uff0c\u8a2d\u5b9a\u3092\u534a\u6c38\u7d9a\u7684\u306b\u4fdd\u5b58\u3057\u3066\u304a\u304d\u305f\u3044config\u30d5\u30a1\u30a4\u30eb\u304c\u3042\u308b\u5834\u5408\u306f\uff0cpreset\u3068\u3057\u3066\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u6210\u3059\u308b\uff0e\u4e00\u65b9\u3067\uff0c\u81ea\u5206\u304c\u958b\u767a\u3057\u305f\u308f\u3051\u3067\u306f\u306a\u3044\u65e2\u5b58\u306epreset\u306b\u3064\u3044\u3066\u306f\u57fa\u672c\u7684\u306b\u7de8\u96c6\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u3053\u308c\u3089\u306epreset\u306b\u306f\u8ad6\u6587\u306a\u3069\u3067\u5bfe\u5916\u7684\u306b\u793a\u3057\u305f\u7d50\u679c\u3092\u4fdd\u5b58\u3057\u3066\u304a\u304f\u3079\u304d\u3082\u306e\u3082\u3042\u308b\u306e\u3067\uff0c\u7de8\u96c6\u3059\u308b\u969b\u306f\u958b\u767a\u8005\u3084\u30c1\u30fc\u30e0\u3068\u8a71\u3057\u5408\u3046\u5fc5\u8981\u304c\u3042\u308b\uff0epreset\u306e\u4f5c\u6210\u624b\u9806\u3092\u4ee5\u4e0b\u306b\u793a\u3059\uff0e config/preset \u4e0b\u306b\uff0c config_xxx_param.m \u3068\u3044\u3046\u81ea\u5206\u306econfig\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u308b\uff0e xxx \u306f\u4efb\u610f\u3060\u304c\uff0c config_ \u3067\u59cb\u307e\u308a\uff0c _param \u3067\u7d42\u308f\u308b\u3088\u3046\u306b\u547d\u540d\u3059\u308b\uff0e config_xxx_param.m \u306e\u5185\u90e8\u306b\u81ea\u5206\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u8a2d\u5b9a\u3059\u308b\uff0e main_sim\u5185\u3067 `config = \u2018xxx\u2019; \u3068\u8a2d\u5b9a\u3059\u308b\uff0e config_simulation\u5185\u3067\u4e00\u756a\u4e0b\u306b\uff0c if strcmp(config, \u2018xxx\u2019) [... ] = config_xxx_param(....); end \u3068\u65b0\u3057\u304f\u8a18\u8ff0\u3057\u3066\uff0c\u4f5c\u6210\u3057\u305fconfig\u30d5\u30a1\u30a4\u30eb\u3092load\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u3092\"xxx\"\u306b\u5909\u66f4\u3059\u308b\uff0e main_sim \u3092 /climblab \u4e0b\u3067\u5b9f\u884c\u3059\u308b\uff0e","title":"ROS"},{"location":"ros/#4-how-to-execute-simulation","text":"ClimbLab\u306fMATLAB\u3067\u8a18\u8ff0\u3055\u308c\u3066\u304a\u308a\uff0c\u5b9f\u884c\u306b\u306fMATALB\u3092\u4f7f\u7528\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e\u52d5\u4f5c\u78ba\u8a8d\u304c\u304a\u3053\u306a\u308f\u308c\u3066\u3044\u308bMATLAB\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u306f\uff0c\u672c\u8ad6\u6587\u57f7\u7b46\u6642(2022\u5e742\u67081\u65e5)\u306b\u304a\u3044\u3066\uff0cMATLAB R2019b\u3067\u3042\u308b\uff0e\u3088\u3063\u3066\uff0c\u5b9f\u884c\u306b\u306fR2019b\u4ee5\u964d\u306eMATLAB\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u74b0\u5883\u304c\u5fc5\u8981\u3067\u3042\u308b\uff0e\u307e\u305f\uff0cMATLAB Toolbox\u306b\u3064\u3044\u3066\u306f\uff0c\u57fa\u672c\u7684\u306b\u5fc5\u8981\u3068\u3057\u306a\u3044\u304c\uff0c\u3054\u304f\u4e00\u90e8\u306e\u6a5f\u80fd\u306b\u3064\u3044\u3066\u4ee5\u4e0b\u306eToolbox\uff1a Optimization Toolbox Robotics Toolbox Signal Processing Toolbox Reinforcement Learning Toolbox Deep Learning Toolbox \u304c\u4f7f\u7528\u3055\u308c\u308b\u305f\u3081\uff0c\u5fc5\u8981\u306a\u5834\u5408\u306f\u9069\u5b9c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e","title":"4. How to Execute Simulation"},{"location":"ros/#41-how-to-execute-main_simm","text":"main_sim.m \u3092\u5b9f\u884c\u3057\uff0c\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u624b\u9806\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e\u306a\u304a\uff0c\u5148\u306b\u8ff0\u3079\u305fMATLAB\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u74b0\u5883\u3092\u524d\u63d0\u3068\u3059\u308b\uff0e \u307e\u305a\u57fa\u672c\u8a2d\u5b9a\u3067\u3042\u308b\"default\"\u3067\u5b9f\u884c\u3059\u308b\u5834\u5408\u306f\uff0c GitHub\u3084BitBucket\u304b\u3089ClimbLab\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3059\u308b\uff0e MATLAB\u3092\u958b\u304f\uff0e \u30d5\u30a9\u30eb\u30c0/climblab/src\u4e0b\u306b\u304a\u304b\u308c\u3066\u3044\u308b main_sim.m \u3092\u958b\u304f\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u304c\"default\"\u306b\u8a2d\u5b9a\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b\uff0e MATLAB\u5185\u306e\u300c\u73fe\u5728\u306e\u30d5\u30a9\u30eb\u30c0\u300d\u3092 /climblab \u306b\u3059\u308b\uff0e main\\_sim.m \u3092\u5b9f\u884c\u3059\u308b\uff0e \u5b9f\u884c\u5f8c\uff0c\u300cmain_sim.m\u306f\u73fe\u5728\u306e\u30d5\u30a9\u30eb\u30c0\u30fc\u3084MATLAB\u30d1\u30b9\u4e0a\u3067\u898b\u3064\u304b\u308a\u307e\u305b\u3093\uff0e\u300d\u3068\u3044\u3046\u30a8\u30e9\u30fc\u304c\u51fa\u305f\u5834\u5408\u306f\uff0c\u300c\u30d1\u30b9\u306b\u8ffd\u52a0\u300d\u3092\u9078\u629e\u3059\u308b\uff0e \u3068\u3044\u3046\u624b\u9806\u306b\u3088\u3063\u3066\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u958b\u59cb\u3055\u308c\u308b\uff0e \u307e\u305f\u3053\u306e\"default\"\u304b\u3089\u81ea\u5206\u7528\u306b\u65b0\u305f\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u8a2d\u5b9a\u3092\u5909\u66f4\u3057\u3066\u8a66\u3059\u5834\u5408\u306b\u306f\uff0c \u30d5\u30a9\u30eb\u30c0 /climblab/config/USER \u4e0b\u306b\u304a\u304b\u308c\u3066\u3044\u308b config\\_USER\\_param\\_template.m \u3092\u30b3\u30d4\u30fc\u3057\uff0c\u540c\u3058\u30d5\u30a9\u30eb\u30c0\u306b\uff0c config_USER_param.m \u3068\u540d\u524d\u3092\u5909\u3048\u3066\u4f5c\u6210\u3059\u308b\uff0e config_USER_param.m \u5185\u306b\uff0cdefault\u304b\u3089\u5909\u66f4\u3057\u305f\u3044\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u8a2d\u5b9a\u3092\u66f8\u304d\u52a0\u3048\u308b\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u3092\"default\"\u304b\u3089\"USER\"\u306b\u5909\u66f4\u3059\u308b\uff0e main_sim.m \u3092\u5b9f\u884c\u3059\u308b\uff0e \u3068\u3044\u3046\u624b\u9806\u3067\u8a2d\u5b9a\u3092\u5909\u66f4\u3057\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u5909\u66f4\u3067\u304d\u308b\u8a2d\u5b9a\u306f\uff0c\u30d5\u30a9\u30eb\u30c0 config/default \u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\u5404class\u306e\u521d\u671f\u8a2d\u5b9a\u7528\u306e\u95a2\u6570\u306e\u4e2d\u8eab\u3092\u898b\u308b\u3053\u3068\u3067\u78ba\u8a8d\u3067\u304d\u308b\uff0e \u307e\u305f\uff0c\u81ea\u5206\u304c\u958b\u767a\u3092\u9032\u3081\u308b\u4e2d\u3067\uff0c\u8a2d\u5b9a\u3092\u534a\u6c38\u7d9a\u7684\u306b\u4fdd\u5b58\u3057\u3066\u304a\u304d\u305f\u3044config\u30d5\u30a1\u30a4\u30eb\u304c\u3042\u308b\u5834\u5408\u306f\uff0cpreset\u3068\u3057\u3066\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u6210\u3059\u308b\uff0e\u4e00\u65b9\u3067\uff0c\u81ea\u5206\u304c\u958b\u767a\u3057\u305f\u308f\u3051\u3067\u306f\u306a\u3044\u65e2\u5b58\u306epreset\u306b\u3064\u3044\u3066\u306f\u57fa\u672c\u7684\u306b\u7de8\u96c6\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u3053\u308c\u3089\u306epreset\u306b\u306f\u8ad6\u6587\u306a\u3069\u3067\u5bfe\u5916\u7684\u306b\u793a\u3057\u305f\u7d50\u679c\u3092\u4fdd\u5b58\u3057\u3066\u304a\u304f\u3079\u304d\u3082\u306e\u3082\u3042\u308b\u306e\u3067\uff0c\u7de8\u96c6\u3059\u308b\u969b\u306f\u958b\u767a\u8005\u3084\u30c1\u30fc\u30e0\u3068\u8a71\u3057\u5408\u3046\u5fc5\u8981\u304c\u3042\u308b\uff0epreset\u306e\u4f5c\u6210\u624b\u9806\u3092\u4ee5\u4e0b\u306b\u793a\u3059\uff0e config/preset \u4e0b\u306b\uff0c config_xxx_param.m \u3068\u3044\u3046\u81ea\u5206\u306econfig\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u308b\uff0e xxx \u306f\u4efb\u610f\u3060\u304c\uff0c config_ \u3067\u59cb\u307e\u308a\uff0c _param \u3067\u7d42\u308f\u308b\u3088\u3046\u306b\u547d\u540d\u3059\u308b\uff0e config_xxx_param.m \u306e\u5185\u90e8\u306b\u81ea\u5206\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u8a2d\u5b9a\u3059\u308b\uff0e main_sim\u5185\u3067 `config = \u2018xxx\u2019; \u3068\u8a2d\u5b9a\u3059\u308b\uff0e config_simulation\u5185\u3067\u4e00\u756a\u4e0b\u306b\uff0c if strcmp(config, \u2018xxx\u2019) [... ] = config_xxx_param(....); end \u3068\u65b0\u3057\u304f\u8a18\u8ff0\u3057\u3066\uff0c\u4f5c\u6210\u3057\u305fconfig\u30d5\u30a1\u30a4\u30eb\u3092load\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u3092\"xxx\"\u306b\u5909\u66f4\u3059\u308b\uff0e main_sim \u3092 /climblab \u4e0b\u3067\u5b9f\u884c\u3059\u308b\uff0e","title":"4.1 How to execute main_sim.m"},{"location":"top/","text":"SpaceDyn User Manual Author(s) and maintainer(s): Space Robotics Lab. Contact email: srl-orbital@grp.tohoku.ac.jp The climbing simulator is being developed by the Climbing Robotics Team in Space Robotics Laboratory at Tohoku University, Japan. The source code is released under a BSD 3-Clause license . This developpers manual is originally written in Google Document and maintained in SRL-Limb's shared drive . Reference Note If you use this simulator in an academic context, please put the following citation. Uno K. et al. (2022) ClimbLab: MATLAB Simulation Platform for Legged Climbing Robotics. In: Chugo D., Tokhi M.O., Silva M.F., Nakamura T., Goher K. (eds) Robotics for Sustainable Future. CLAWAR 2021. Lecture Notes in Networks and Systems, vol 324. Springer, Cham. https://doi.org/10.1007/978-3-030-86294-7_20 1 2 3 4 5 6 7 8 @inproceedings { uno2021climblab , title = { ClimbLab : MATLAB Simulation Platform for Legged Climbing Robotics } , author = { Kentaro Uno and Warley F . R . Ribeiro and Yusuke Koizumi and Keigo Haji and Koki Kurihara and William Jones and Kazuya Yoshida } , booktitle = { Robotics for Sustainable Future } , pages = { 229 -- 241 } , year = { 2022 } , publisher = \"Springer International Publishing\" , } Release note The version of this manual is synchronized with the version of ClimbLab simulator. Since this online manual is deployed since the v4.0, the oldest version is v4.0. v4.0: released on 2021. First released version.","title":"Top"},{"location":"top/#spacedyn-user-manual","text":"Author(s) and maintainer(s): Space Robotics Lab. Contact email: srl-orbital@grp.tohoku.ac.jp The climbing simulator is being developed by the Climbing Robotics Team in Space Robotics Laboratory at Tohoku University, Japan. The source code is released under a BSD 3-Clause license . This developpers manual is originally written in Google Document and maintained in SRL-Limb's shared drive .","title":"SpaceDyn User Manual"},{"location":"top/#reference","text":"Note If you use this simulator in an academic context, please put the following citation. Uno K. et al. (2022) ClimbLab: MATLAB Simulation Platform for Legged Climbing Robotics. In: Chugo D., Tokhi M.O., Silva M.F., Nakamura T., Goher K. (eds) Robotics for Sustainable Future. CLAWAR 2021. Lecture Notes in Networks and Systems, vol 324. Springer, Cham. https://doi.org/10.1007/978-3-030-86294-7_20 1 2 3 4 5 6 7 8 @inproceedings { uno2021climblab , title = { ClimbLab : MATLAB Simulation Platform for Legged Climbing Robotics } , author = { Kentaro Uno and Warley F . R . Ribeiro and Yusuke Koizumi and Keigo Haji and Koki Kurihara and William Jones and Kazuya Yoshida } , booktitle = { Robotics for Sustainable Future } , pages = { 229 -- 241 } , year = { 2022 } , publisher = \"Springer International Publishing\" , }","title":"Reference"},{"location":"top/#release-note","text":"The version of this manual is synchronized with the version of ClimbLab simulator. Since this online manual is deployed since the v4.0, the oldest version is v4.0. v4.0: released on 2021. First released version.","title":"Release note"}]}
\ No newline at end of file