├── .gitignore ├── CMakeLists.txt ├── Lisense.txt ├── README.md ├── config ├── FindXenomai.cmake ├── aris-config.cmake.in └── aris_version.h.in ├── demo ├── demo_command_parser_cpp │ └── main.cpp ├── demo_command_parser_xml │ ├── main.cpp │ └── resource │ │ └── command.xml ├── demo_control_wifi │ ├── main.cpp │ └── resource │ │ └── command.xml ├── demo_core_structure_cpp │ └── main.cpp ├── demo_expression_calculator │ └── main.cpp ├── demo_hulk │ ├── main.cpp │ └── resource │ │ ├── p1.xmt_txt │ │ ├── p2.xmt_txt │ │ ├── p3.xmt_txt │ │ ├── p4.xmt_txt │ │ ├── p5.xmt_txt │ │ └── p6.xmt_txt ├── demo_model_delta │ └── main.cpp ├── demo_model_multi │ └── main.cpp ├── demo_model_scara │ ├── doc │ │ ├── scara(origin).png │ │ └── scara.png │ ├── main.cpp │ └── resource │ │ ├── ground.xmt_txt │ │ ├── part1.xmt_txt │ │ ├── part2.xmt_txt │ │ ├── part3.xmt_txt │ │ └── part4.xmt_txt ├── demo_model_seven_axis │ └── main.cpp ├── demo_object │ └── main.cpp ├── demo_reflection │ └── main.cpp ├── demo_rokae_server │ ├── main.cpp │ └── resource │ │ └── rokae.xml ├── demo_server │ ├── main.cpp │ └── resource │ │ └── stewart.xml ├── demo_stewart │ ├── main.cpp │ └── resource │ │ ├── ground.xmt_txt │ │ ├── p1b.xmt_txt │ │ ├── p1c.xmt_txt │ │ ├── pa.xmt_txt │ │ ├── pb.xmt_txt │ │ └── up.xmt_txt ├── demo_ur │ ├── main.cpp │ └── resource │ │ ├── pa.xmt_txt │ │ ├── pb.xmt_txt │ │ └── up.xmt_txt └── rbt │ └── client.cpp ├── doc ├── Doxyfile └── Doxyfile.in ├── include ├── aris.hpp └── aris │ ├── control │ ├── control.hpp │ ├── controller_motion.hpp │ ├── ethercat.hpp │ ├── ethercat_kernel.hpp │ ├── master_slave.hpp │ └── rt_timer.hpp │ ├── core │ ├── basic_type.hpp │ ├── command.hpp │ ├── core.hpp │ ├── data_structure.hpp │ ├── expression_calculator.hpp │ ├── informations.hpp │ ├── log.hpp │ ├── msg.hpp │ ├── object.hpp │ ├── pipe.hpp │ ├── reflection.hpp │ ├── serialization.hpp │ ├── sha1.h │ ├── signal_slots.hpp │ ├── socket.hpp │ └── version.hpp │ ├── dynamic │ ├── delta.hpp │ ├── dynamic.hpp │ ├── matrix.hpp │ ├── mechanism_prpr.hpp │ ├── mechanism_rppr.hpp │ ├── model.hpp │ ├── model_base.hpp │ ├── model_basic.hpp │ ├── model_coordinate.hpp │ ├── model_interaction.hpp │ ├── model_simulation.hpp │ ├── model_solver.hpp │ ├── plan.hpp │ ├── puma.hpp │ ├── puma_5axis.hpp │ ├── scara.hpp │ ├── screw.hpp │ ├── serial_3axis.hpp │ ├── seven_axis.hpp │ ├── seven_axis2.hpp │ ├── seven_axis3.hpp │ ├── spline.hpp │ ├── stewart.hpp │ └── ur.hpp │ ├── ext │ ├── fifo_map.hpp │ ├── json.hpp │ ├── sqlite3.h │ └── tinyxml2.h │ ├── plan │ ├── algorithm.hpp │ ├── function.hpp │ ├── plan.hpp │ └── root.hpp │ ├── robot │ ├── robot.hpp │ ├── rokae.hpp │ ├── servo_press.hpp │ ├── stewart.hpp │ └── ur.hpp │ ├── sensor │ ├── sensor.hpp │ └── sensor_base.hpp │ └── server │ ├── api.hpp │ ├── control_server.hpp │ ├── interface.hpp │ ├── middle_ware.hpp │ └── server.hpp ├── sh ├── create_project.bat ├── demo │ ├── CMakeLists.txt │ └── src │ │ └── main.cpp └── start_ethercat_master.sh ├── src ├── control │ ├── controller_motion.cpp │ ├── ethercat.cpp │ ├── ethercat_kernel.cpp │ ├── master_slave.cpp │ ├── resource │ │ ├── ethercat.conf_backup │ │ └── ethercat_backup │ └── rt_timer.cpp ├── core │ ├── basic_type.cpp │ ├── command.cpp │ ├── expression_calculator.cpp │ ├── infomations.cpp │ ├── log.cpp │ ├── msg.cpp │ ├── object.cpp │ ├── pipe.cpp │ ├── reflection.cpp │ ├── serialization.cpp │ ├── sha1.cpp │ ├── socket.cpp │ └── version.cpp ├── dynamic │ ├── delta.cpp │ ├── matrix.cpp │ ├── mechanism_prpr.cpp │ ├── mechanism_rppr.cpp │ ├── model.cpp │ ├── model_base.cpp │ ├── model_basic.cpp │ ├── model_coordinate.cpp │ ├── model_interaction.cpp │ ├── model_simulation.cpp │ ├── model_solver.cpp │ ├── plan.cpp │ ├── puma.cpp │ ├── puma_5axis.cpp │ ├── scara.cpp │ ├── screw.cpp │ ├── serial_3axis.cpp │ ├── seven_axis.cpp │ ├── seven_axis2.cpp │ ├── seven_axis3.cpp │ ├── spline.cpp │ ├── stewart.cpp │ └── ur.cpp ├── ext │ ├── sqlite3.c │ └── tinyxml2.cpp ├── plan │ ├── algorithm.cpp │ ├── function.cpp │ └── root.cpp ├── robot │ ├── resource │ │ └── ur5 │ │ │ ├── L1.DWG │ │ │ ├── L2.DWG │ │ │ ├── L3.DWG │ │ │ ├── L4.DWG │ │ │ ├── L5.DWG │ │ │ ├── L6.DWG │ │ │ └── ground.DWG │ ├── rokae.cpp │ ├── servo_press.cpp │ ├── stewart.cpp │ └── ur.cpp ├── sensor │ └── sensor_base.cpp └── server │ ├── api.cpp │ ├── control_server.cpp │ ├── interface.cpp │ ├── md5.cpp │ ├── md5.h │ ├── middle_ware.cpp │ ├── mongoose.c │ └── mongoose.h ├── start_all.sh ├── test ├── test_control │ ├── main.cpp │ ├── test_control_ethercat.cpp │ ├── test_control_ethercat.h │ ├── test_control_master_slave.cpp │ ├── test_control_master_slave.h │ ├── test_control_motion.cpp │ └── test_control_motion.h ├── test_core │ ├── main.cpp │ ├── test_core_command.cpp │ ├── test_core_command.h │ ├── test_core_log.cpp │ ├── test_core_log.h │ ├── test_core_msg.cpp │ ├── test_core_msg.h │ ├── test_core_object.cpp │ ├── test_core_object.h │ ├── test_core_pipe.cpp │ ├── test_core_pipe.h │ ├── test_core_socket.cpp │ └── test_core_socket.h ├── test_dynamic │ ├── main.cpp │ ├── resource │ │ ├── 3R │ │ │ ├── part1.x_t │ │ │ ├── part2.x_t │ │ │ └── part3.x_t │ │ ├── delta │ │ │ ├── base.xmt_txt │ │ │ ├── ee.xmt_txt │ │ │ ├── link1.xmt_txt │ │ │ ├── link2.xmt_txt │ │ │ └── up.xmt_txt │ │ └── stewart │ │ │ ├── pa.xmt_txt │ │ │ ├── pb.xmt_txt │ │ │ └── up.xmt_txt │ ├── test_dynamic_matrix.cpp │ ├── test_dynamic_matrix.h │ ├── test_dynamic_model.cpp │ ├── test_dynamic_model.h │ ├── test_dynamic_model_coordinate.cpp │ ├── test_dynamic_model_coordinate.h │ ├── test_dynamic_model_interaction.cpp │ ├── test_dynamic_model_interaction.h │ ├── test_dynamic_model_solver.cpp │ ├── test_dynamic_model_solver.h │ ├── test_dynamic_model_solver_delta.cpp │ ├── test_dynamic_model_solver_delta.h │ ├── test_dynamic_model_solver_puma.cpp │ ├── test_dynamic_model_solver_puma.h │ ├── test_dynamic_model_solver_seven_axis.cpp │ ├── test_dynamic_model_solver_seven_axis.h │ ├── 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