1\documentclass[11pt]{article} 2 3\usepackage{latexsym, amssymb} 4\usepackage{epsf} 5\usepackage{fancyheadings} 6 7\title{{\bf \Large DynaMechs 2.1 User's Guide}} 8\author{Written by: Scott McMillan} 9 10\begin{document} 11 12\headsep = 23pt 13 14\pagestyle{fancy} 15\lhead{DynaMechs 2.1} 16\rhead{User's Guide} 17 18% ========================================================================== 19 20\maketitle 21 22\vfill 23\abstract{This is the abstract} 24 25\clearpage 26 27% ========================================================================== 28 29\thispagestyle{fancy} 30 31\tableofcontents 32 33\clearpage 34 35% ========================================================================== 36%\spacingset{1.2} 37 38\section{Overview} 39\cite{mcm96} 40 41% ========================================================================== 42 43\section{Installing the Software} 44\subsection{DynaMechs Library} 45\subsection{Example Programs} 46 47% ========================================================================== 48 49\section{Software Design Overview} 50 51\begin{figure}[p] 52\epsfxsize = 5.5in 53\centerline{\epsffile{hierarchies_2.1.ps}} 54\caption{DynaMechs class design. \label{class_hierarchy_fig}} 55\end{figure} 56 57\subsection{Class Hierarchy} 58\subsection{Object Hierarchy} 59 60% ========================================================================== 61 62\section{Kinematic Modelling} 63\subsection{Reference Member} 64\subsection{Branching} 65\subsection{MDH Parameters} 66\subsection{Spherical Joint Parameters} 67 68% ========================================================================== 69 70\section{Dynamic Modelling} 71\subsection{Dynamic Parameters} 72\subsection{Hydrodynamic Parameters} 73 74% ========================================================================== 75 76\section{Building a {\tt dmSystem}} 77\subsection{System} 78\subsection{Reference Member} 79\subsection{Articulation} 80\subsection{Links} 81\subsection{Contact Models} 82\subsection{Environment} 83\subsection{A Configuration Loader} 84 85% ========================================================================== 86 87\section{Simulating a {\tt dmSystem}} 88\subsection{Integrator} 89 90% ========================================================================== 91 92\section{Rendering the {\tt dmSystem}} 93\subsection{Providing the {\tt draw} functions} 94\subsection{OpenGL Example} 95 96% ========================================================================== 97 98\section{Advanced Topics} 99\subsection{Adding New Link Types} 100\subsection{Adding New Contact Models} 101 102% ========================================================================== 103\bibliographystyle{plain} 104\bibliography{myref,robotics} 105 106\end{document} 107