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