Introduction to Stephe s Ada Library Stephen Leake stephen_leake@acm.org Abstract Stephe s Ada Library (SAL) containers are designed to support the widest possible range of item and container types (limited/non-limited, inde nite/de nite, etc). SAL containers are de ned by the operations required to implement algorithms. Issues that arise in the implementation of this design are discussed. Introduction Stephe s Ada Library (SAL) is a collection of stu I ve found useful in my projects. It is all available on line at http://www.toadmail.com/~ada_wizard/, under the GNAT-modi ed Gnu General Public License (the same license used for the runtime libraries of GNAT, the Gnu Ada compiler). Some of the packages implement a container library, others implement a robotics and spacecraft mathematics library, and the rest don t t in any particular category. The math library provides operations for kinematics and dynamics of masses in 3 dimensional space. Cartesian vectors, rotation quaternions, orthonormal rotation matrices, moments of inertia, forces, acceleration, velocity are supported, in 3 and 6 degrees of freedom (translation and rotation). I ve used this library for both robotics and satellite simulation. The core algorithms are documented in http://www.toadmail.com/~ada_wizard/ada/spacecraft_math.pdf. This paper presents an overview of the container
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Introduction to Stephe's Ada library
Leake, Stephen
Follow ACM SIGAda Ada Letters
, Volume XXIV (3)
Association for Computing Machinery – Sep 1, 2004
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