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OSCAR::ArmMC Class Reference
[ManualController]

#include <ArmMC.h>

Inheritance diagram for OSCAR::ArmMC:

[legend]List of all members.


Public Methods
	ArmMC (const int numberOfButtons, const int numberOfDeltas, const HandPose &startingHand, const Vector &scalingForces, const Vector &maximumForces, const String &nameOfDHFile, const String &nameOfMotorGainFile, const String &name, MC_TYPE type)
	ArmMC (const int numberOfButtons, const int numberOfDeltas, const HandPose &startingHand, const Vector &scalingForces, const Vector &maximumForces, const String &nameOfDHFile, const String &name, MC_TYPE type)
virtual	~ArmMC ()
void	SetForces (Vector &forces)
void	SetTorques (Vector &torques)
void	SetScalingForces (Vector &scalingForces)
void	SetMaximumForces (Vector &maximumForces)
const void	GetForces (Vector &forces)
const void	GetAngles (Vector &angles)
const void	GetScalingForces (Vector &scalingForces)
const void	GetMaximumForces (Vector &maximumForces)
const void	GetTorques (Vector &)
const int	GetPCSDeltas (Vector &)
int	Initialize ()
int	GetPacketFromMC ()
int	SendPacketToMC ()
void	SetArmPose (const Xform &)
virtual void	GetAnglesFromMC ()
double	GetErrorRate (int joint)
const void	GetErrorRates (Vector &speeds)
void	UpdatePastErrorRates ()
int	GetPacketFromServer ()
int	SendVoltagesToServer ()
int	Listen ()
Public Attributes
ControlParam	CParam
Vector *	instErrorRates
Vector *	prevErrors
Protected Methods
void	CalculateDeltas ()
void	CalculateTorques ()
virtual void	CalculateVoltages ()
void	CheckRotDeltas ()
virtual void	SendVoltagesToMC ()
void	ScaleDeltas ()
double	CalcRate (int joint)
double	MaxVk (int joint)
double	MinVk (int joint)
Protected Attributes
Vector *	forces
Vector *	scalingForces
Vector *	maximumForces
Vector *	torques
Vector *	voltages
FKJacobian *	jacobian
Xform	handXform
Xform	prevHandXform
Xform	deltaXform
HandPose	previousHand
HandPose	deltaHand
Vector3	previousPosition
Vector *	angles
Vector *	PCSdeltas
MatrixData *	motorGainMD
Matrix *	motorGainMat
Matrix *	pastErrorRates
Vector *	accumErrors
int	filterLength

Constructor & Destructor Documentation

OSCAR::ArmMC::ArmMC ( const int numberOfButtons,

const int numberOfDeltas,

const HandPose & startingHand,

const Vector & scalingForces,

const Vector & maximumForces,

const String & nameOfDHFile,

const String & nameOfMotorGainFile,

const String & name,

MC_TYPE type

)

virtual OSCAR::ArmMC::~ArmMC ( ) [virtual]

Member Function Documentation

double OSCAR::ArmMC::CalcRate ( int joint ) [protected]

void OSCAR::ArmMC::CalculateDeltas ( ) [protected]

void OSCAR::ArmMC::CalculateTorques ( ) [protected]

virtual void OSCAR::ArmMC::CalculateVoltages ( ) [protected, virtual]

Reimplemented in OSCAR::KraftMC.

void OSCAR::ArmMC::CheckRotDeltas ( ) [protected]

const void OSCAR::ArmMC::GetAngles ( Vector & angles )

virtual void OSCAR::ArmMC::GetAnglesFromMC ( ) [inline, virtual]

Reimplemented in OSCAR::KraftMC, and OSCAR::TOSMC.

double OSCAR::ArmMC::GetErrorRate ( int joint )

const void OSCAR::ArmMC::GetErrorRates ( Vector & speeds )

const void OSCAR::ArmMC::GetForces ( Vector & forces )

const void OSCAR::ArmMC::GetMaximumForces ( Vector & maximumForces )

int OSCAR::ArmMC::GetPacketFromMC ( ) [virtual]

Implements OSCAR::ManualController.

int OSCAR::ArmMC::GetPacketFromServer ( ) [virtual]

Implements OSCAR::ManualController.

const int OSCAR::ArmMC::GetPCSDeltas ( Vector & )

const void OSCAR::ArmMC::GetScalingForces ( Vector & scalingForces )

const void OSCAR::ArmMC::GetTorques ( Vector & )

int OSCAR::ArmMC::Initialize ( ) [virtual]

Implements OSCAR::ManualController.

int OSCAR::ArmMC::Listen ( ) [virtual]

Implements OSCAR::ManualController.

double OSCAR::ArmMC::MaxVk ( int joint ) [protected]

double OSCAR::ArmMC::MinVk ( int joint ) [protected]

void OSCAR::ArmMC::ScaleDeltas ( ) [protected]

Reimplemented from OSCAR::ManualController.

int OSCAR::ArmMC::SendPacketToMC ( )

virtual void OSCAR::ArmMC::SendVoltagesToMC ( ) [inline, protected, virtual]

Reimplemented in OSCAR::KraftMC, and OSCAR::TOSMC.

int OSCAR::ArmMC::SendVoltagesToServer ( )

void OSCAR::ArmMC::SetArmPose ( const Xform & )

void OSCAR::ArmMC::SetForces ( Vector & forces )

void OSCAR::ArmMC::SetMaximumForces ( Vector & maximumForces )

void OSCAR::ArmMC::SetScalingForces ( Vector & scalingForces )

void OSCAR::ArmMC::SetTorques ( Vector & torques )

void OSCAR::ArmMC::UpdatePastErrorRates ( )

Member Data Documentation

Vector* OSCAR::ArmMC::accumErrors [protected]

Vector* OSCAR::ArmMC::angles [protected]

ControlParam OSCAR::ArmMC::CParam

HandPose OSCAR::ArmMC::deltaHand [protected]

Xform OSCAR::ArmMC::deltaXform [protected]

int OSCAR::ArmMC::filterLength [protected]

Vector* OSCAR::ArmMC::forces [protected]

Xform OSCAR::ArmMC::handXform [protected]

Vector* OSCAR::ArmMC::instErrorRates

FKJacobian* OSCAR::ArmMC::jacobian [protected]

Vector* OSCAR::ArmMC::maximumForces [protected]

Matrix* OSCAR::ArmMC::motorGainMat [protected]

MatrixData* OSCAR::ArmMC::motorGainMD [protected]

Matrix* OSCAR::ArmMC::pastErrorRates [protected]

Vector* OSCAR::ArmMC::PCSdeltas [protected]

Vector* OSCAR::ArmMC::prevErrors

Xform OSCAR::ArmMC::prevHandXform [protected]

HandPose OSCAR::ArmMC::previousHand [protected]

Vector3 OSCAR::ArmMC::previousPosition [protected]

Vector* OSCAR::ArmMC::scalingForces [protected]

Vector* OSCAR::ArmMC::torques [protected]

Vector* OSCAR::ArmMC::voltages [protected]

The documentation for this class was generated from the following file:

ArmMC.h

OSCAR::ArmMC Class Reference [ManualController]

Public Methods

Public Attributes

Protected Methods

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

OSCAR::ArmMC Class Reference
[ManualController]