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OSCAR::DistanceCalculator Class Reference
[ObstacleAvoidance]

Interface class for Distance Calculators. More...

#include <DistanceCalculator.hpp>

Inheritance diagram for OSCAR::DistanceCalculator:

[legend]List of all members.


Public Methods
	DistanceCalculator (const String &name=String(), OSCARError &err=DUMMY_ERROR(noError))
virtual	~DistanceCalculator ()
virtual bool	CalcDist (const Node &from, const Node &to, DistanceResults &results, bool checkSelf=false, const std::set< const ModelingObject * > &ignoreSet=std::set< const ModelingObject * >())
bool	CalcDist (const Primitive &from, const Primitive &to, Vector3 &fromWit, Vector3 &toWit, Vector3 &unitVec, double &dist)
virtual bool	CalcGFunctions (const Node &from, const Node &to, DistanceResults &results, FKVelocity fromFK, bool checkSelf=false, const std::set< const ModelingObject > &ignoreSet=std::set< const ModelingObject * >())
virtual bool	CalcHFunctions (const Node &from, const Node &to, DistanceResults &results, FKAcceleration fromFK, bool checkSelf=false, const std::set< const ModelingObject > &ignoreSet=std::set< const ModelingObject * >())
bool	CalcGFunction (const Primitive &from, const Primitive &to, DistanceResults &results, FKVelocity *fromFK, unsigned int fromFrame)
bool	CalcHFunction (const Primitive &from, const Primitive &to, DistanceResults &results, FKVelocity *fromFK, unsigned int fromFrame)
Protected Methods
double	sphereSphereDist (const Sphere &from, const Sphere &to, Vector3 &fromWit, Vector3 &toWit, Vector3 &unitVec, double &dist)
double	spherePlaneDist (const Sphere &from, const Plane &to, Vector3 &fromWit, Vector3 &toWit, Vector3 &unitVec, double &dist)
double	cylisphereCylisphereDist (const Cylisphere &from, const Cylisphere &to, Vector3 &fromWit, Vector3 &toWit, Vector3 &unitVec, double &dist)
double	cylisphereSphereDist (const Cylisphere &from, const Sphere &to, Vector3 &fromWit, Vector3 &toWit, Vector3 &unitVec, double &dist)
double	cylispherePlaneDist (const Cylisphere &from, const Plane &to, Vector3 &fromWit, Vector3 &toWit, Vector3 &unitVec, double &dist, double &t1, double &t2)
bool	pointPointH (Vector3 &robPt, Vector3 &obstPt, const Primitive &robPrim, const Primitive &obstPrim, DistanceResults &results, double robRadius, double obstRadius, FKAcceleration *fromFK, unsigned int robotFrameNumber)
bool	linePointH (Vector3 &robPt, Vector3 &obstPt, const Primitive &robPrim, const Primitive &obstPrim, DistanceResults &results, double robRadius, double obstRadius, FKAcceleration *fromFK, unsigned int robotFrameNumber)
bool	lineLineH (Vector3 &robPt, Vector3 &obstPt, const Primitive &robPrim, const Primitive &obstPrim, DistanceResults &results, double robRadius, double obstRadius, FKAcceleration *fromFK, unsigned int robotFrameNumber)
bool	LinePlaneH ()
Protected Attributes
unsigned int	frameNumber
Matrix	tempMat
Vector3	wit0
Vector3	wit1
Vector3	dHat
Vector3	tempVec3
Vector3	secTempVec3

Detailed Description

This is an interface class for function objects which calculate the distances between objects contained in a tree of Nodes.

Author:: Ethan Swint, Andrew Spencer

Todo:

Constructor & Destructor Documentation

OSCAR::DistanceCalculator::DistanceCalculator ( const String & name = String(),

OSCARError & err = DUMMY_ERROR(noError)

)

Constructor for DistanceCalculator.
Constructs an DistanceCalculator object, a function object that calculates the distances between geometric models.
Parameters:

_name If you wish to name this object, provide an argument.

err If errors were encountered during object construction, this OSCARError object will contain a description of the error, otherwise it will be 'noError'

See also:
~DistanceCalculator()

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

Member Function Documentation

bool OSCAR::DistanceCalculator::CalcDist ( const Primitive & from,

const Primitive & to,

Vector3 & fromWit,

Vector3 & toWit,

Vector3 & unitVec,

double & dist

)

Calculates the witnesspoints, witness direction unit vectors and distances between two Primitive objects.

Parameters:

const Primitive& from The modeling primitive that the unit vector will point away from

const Primitive& to The modeling primitive that the unit vector will point toward

Vector3& fromWit The witness point for the from primitive

Vector3& toWit The witness point for the to primitive

Vector3& unitVec The unit vector that points from the fromWit witness point to the toWit witness point.

double& dist The distance between the from and to primitives.

Returns:
True upon succesful completion, false if there is a failure (most likely the distance calculation between the to and from primitives has not been implemented. This should rarely, if ever, happen).

virtual bool OSCAR::DistanceCalculator::CalcDist ( const Node & from,

const Node & to,

DistanceResults & results,

bool checkSelf = false,

const std::set< const ModelingObject * > & ignoreSet = std::set< const ModelingObject * >()

) [virtual]

Calculates the witness points, witness direction unit vectors and magnitudes for an arm.

Parameters:

from Node from which to calculate distances to rest of world (including branches in Node)

root Distance calculations will be performed between all objects contained in 'from' and all objects contained in 'root'

checkSelf Directive to perform distance computations for self-collision checking

bool OSCAR::DistanceCalculator::CalcGFunction ( const Primitive & from,

const Primitive & to,

DistanceResults & results,

FKVelocity * fromFK,

unsigned int fromFrame

)

Calculate the G function between two primitives.

Parameters:

const Primitive& from The from primitive for which the g function is to be calculated.

const Primitive& to The to primitive for which the g function is to be calculated.

DistanceResults& results The DistanceResults object where the g function will be stored (this MUST contain distance results information for the from and to primitive specified as arguments).

FKVelocity* fromFK A pointer to an FKVelocity (or FKAcceleration because of inheritance) object for the manipulator the from primitive is attached to

unsigned int fromFrame The frame of the manipulator specified by the fromFK (base frame is frame zero, first DH frame is frame 1 and so on) which the from primitive is attached.

Returns:
True if the calculation is successful, false if there is an error (distance information for the primitive pair not conatined in the DistanceResults object)

virtual bool OSCAR::DistanceCalculator::CalcGFunctions ( const Node & from,

const Node & to,

DistanceResults & results,

FKVelocity * fromFK,

bool checkSelf = false,

const std::set< const ModelingObject * > & ignoreSet = std::set< const ModelingObject * >()

) [virtual]

Calculates the G functions for an arm. Distances between primitives contained in to and from MUST have already been calculated (or must be included in the ignore set) or this function will fail.

Parameters:

from Node from which to calculate distances to rest of world (including branches in Node)

from G function calculations will be performed between all objects contained in 'from' and all objects contained in 'to'

to See above

checkSelf Directive to perform calculations for primitives within the arm.

ignoreSet Modeling objects (primitives and nodes) which will be ignored in calculations. This MUCH match what was given when the distance calculations were performed.

Returns:
True if all calculations were done with success, false if there was a problem (primitives sepcified in to and from did not have matching distance calculations already performed, etc)

bool OSCAR::DistanceCalculator::CalcHFunction ( const Primitive & from,

const Primitive & to,

DistanceResults & results,

FKVelocity * fromFK,

unsigned int fromFrame

)

Calculate the H function between two primitives. This function is NOT complete and is not currently functional.

Parameters:

const Primitive& from The from primitive for which the h function is to be calculated.

const Primitive& to The to primitive for which the h function is to be calculated.

DistanceResults& results The DistanceResults object where the h function will be stored (this MUST contain distance results information for the from and to primitive specified as arguments).

FKAcceleration* fromFK A pointer to an FKAcceleration object for the manipulator the from primitive is attached to

unsigned int fromFrame The frame of the manipulator specified by the fromFK (base frame is frame zero, first DH frame is frame 1 and so on) which the from primitive is attached.

Returns:
True if the calculation is successful, false if there is an error (distance information for the primitive pair not conatined in the DistanceResults object)

virtual bool OSCAR::DistanceCalculator::CalcHFunctions ( const Node & from,

const Node & to,

DistanceResults & results,

FKAcceleration * fromFK,

bool checkSelf = false,

const std::set< const ModelingObject * > & ignoreSet = std::set< const ModelingObject * >()

) [virtual]

Calculates the H functions for an arm. Distances between primitives contained in to and from MUST have already been calculated (or must be included in the ignore set) or this function will fail. This function is not completed yet, and is not functional.

Parameters:

from Node from which to calculate distances to rest of world (including branches in Node)

from H function calculations will be performed between all objects contained in 'from' and all objects contained in 'to'

to See above

checkSelf Directive to perform calculations for primitives within the arm.

ignoreSet Modeling objects (primitives and nodes) which will be ignored in calculations. This MUCH match what was given when the distance calculations were performed or there is a strong possibility that the method will fail.

Returns:
True if all calculations were done with success, false if there was a problem (primitives sepcified in to and from did not have matching distance calculations already performed, etc)

double OSCAR::DistanceCalculator::cylisphereCylisphereDist ( const Cylisphere & from,

const Cylisphere & to,

Vector3 & fromWit,

Vector3 & toWit,

Vector3 & unitVec,

double & dist

) [protected]

double OSCAR::DistanceCalculator::cylispherePlaneDist ( const Cylisphere & from,

const Plane & to,

Vector3 & fromWit,

Vector3 & toWit,

Vector3 & unitVec,

double & dist,

double & t1,

double & t2

) [protected]

double OSCAR::DistanceCalculator::cylisphereSphereDist ( const Cylisphere & from,

const Sphere & to,

Vector3 & fromWit,

Vector3 & toWit,

Vector3 & unitVec,

double & dist

) [protected]

bool OSCAR::DistanceCalculator::lineLineH ( Vector3 & robPt,

Vector3 & obstPt,

const Primitive & robPrim,

const Primitive & obstPrim,

DistanceResults & results,

double robRadius,

double obstRadius,

FKAcceleration * fromFK,

unsigned int robotFrameNumber

) [protected]

bool OSCAR::DistanceCalculator::LinePlaneH ( ) [protected]

bool OSCAR::DistanceCalculator::linePointH ( Vector3 & robPt,

Vector3 & obstPt,

const Primitive & robPrim,

const Primitive & obstPrim,

DistanceResults & results,

double robRadius,

double obstRadius,

FKAcceleration * fromFK,

unsigned int robotFrameNumber

) [protected]

bool OSCAR::DistanceCalculator::pointPointH ( Vector3 & robPt,

Vector3 & obstPt,

const Primitive & robPrim,

const Primitive & obstPrim,

DistanceResults & results,

double robRadius,

double obstRadius,

FKAcceleration * fromFK,

unsigned int robotFrameNumber

) [protected]

double OSCAR::DistanceCalculator::spherePlaneDist ( const Sphere & from,

const Plane & to,

Vector3 & fromWit,

Vector3 & toWit,

Vector3 & unitVec,

double & dist

) [protected]

double OSCAR::DistanceCalculator::sphereSphereDist ( const Sphere & from,

const Sphere & to,

Vector3 & fromWit,

Vector3 & toWit,

Vector3 & unitVec,

double & dist

) [protected]