schaal-TRSL

schaal-TRSL - Wednesday The SL SL Simulation and Real-Time...

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Unformatted text preview: Wednesday, March 29, 2006 The SL SL Simulation and Real-Time Control Software Package Stefan Schaal Computational Learning and Motor Control Laboratory Computer Science and Neuroscience University of Southern California, Los Angeles, 90089-2520 1 INTRODUCTION........................................................................................................................................................3 2 REQUIREMENTS.......................................................................................................................................................4 2.1 SOFTWARE REQUIREMENTS...................................................................................................................................4 2.2 HARDWARE REQUIREMENTS..................................................................................................................................4 2.3 SOFTWARE DIRECTORY SETUP ..............................................................................................................................4 3 THE BASIC STRUCTURE OF SL SL ...........................................................................................................................6 4 THE GENERAL SOFTWARE STRUCTURE OF SL SL ..........................................................................................7 5 THE USER SPECIFIC CODE LEVEL OF SL SL ....................................................................................................11 5.1 INBUILT TASKS IN EVERY SL SL MOTOR SYSTEM...................................................................................................13 5.2 IMPORTANT C-VARIABLES OF SL SL ........................................................................................................................14 5.3 IMPORTANT C-FUNCTIONS OF SL SL ........................................................................................................................18 5.3.1 User Interface (UI) Function ......................................................................................................................18 5.3.2 Programmable Functions............................................................................................................................19 5.4 AN EXAMPLE OF A USER-SPECIFIC TASK............................................................................................................21 5.4.1 General Declarations at the Head of the C-file.........................................................................................22 5.4.2 The Initialization Function..........................................................................................................................23 5.4.3 The Run-Time Function...............................................................................................................................24 5.4.4 The Change Parameter Function................................................................................................................25The Change Parameter Function....
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schaal-TRSL - Wednesday The SL SL Simulation and Real-Time...

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