update new setup
#include <OMManager.h>
-#include <OMMath.h>
+#define WORLD 0
+#define BASE 1
+#define SHOULDER 2
+#define UPPER_ARM 3
+#define LOWER_ARM 4
+#define WRIST 5
+#define GRIPPER 6
+
+#define NONE -1
+
+void setup()
+{
+ Manipulator manipulator;
+ manipulator.addComponent(WORLD, NONE, BASE, mass, inertia_tensor, relative_position, relative_orientation, axis_of_rotation);
+ manipulator.addComponent(WORLD, NONE, BASE, mass, inertia_tensor, relative_position, relative_orientation, axis_of_rotation);
+ manipulator.addComponent(WORLD, NONE, BASE, mass, inertia_tensor, relative_position, relative_orientation, axis_of_rotation);
+ manipulator.addComponent(WORLD, NONE, BASE, mass, inertia_tensor, relative_position, relative_orientation, axis_of_rotation);
+ manipulator.addComponent(WORLD, NONE, BASE, mass, inertia_tensor, relative_position, relative_orientation, axis_of_rotation);
+
+}
+
+void loop()
+{
+
+}
+
+
+
+#if 0
void setup()
{
OMMath math_;
@@ -76,3 +104,4 @@ void loop()
{
}
+#endif
\ No newline at end of file
