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OSCAR::DynamicScaling Class Reference
[Dynamics]

This class allows the user to scale joint trajectories to meet velocity, acceleration or torque limits. Time is scaled. More...

#include <DynamicScaling.h>

Inheritance diagram for OSCAR::DynamicScaling:

[legend]List of all members.


Public Methods
	DynamicScaling (IDNewtonEuler id, FKJacobian fkj)
virtual	~DynamicScaling ()
bool	SetTorqueLimits (const Vector &limits)
bool	SetTrajectory (const std::vector< Vector > pos, const std::vector< Vector > vel, const std::vector< Vector > acc)
std::vector< Vector >	GetScaledTorques ()
double	GetTorqueScalingFactor ()
Protected Methods
DynamicScaling &	operator= (const DynamicScaling &rhs)
	DynamicScaling (const DynamicScaling &rhs)
Protected Attributes
double	scale
std::vector< Vector >	pos
std::vector< Vector >	vel
std::vector< Vector >	acc
std::vector< Vector >	jointTorques
std::vector< Vector >	gravityTorques
FKJacobian *	fkj
IDNewtonEuler *	idne
IDSANewtonEuler	idsa
Vector	limTau

Detailed Description

Author:: Jeremy Sevier

Constructor & Destructor Documentation

OSCAR::DynamicScaling::DynamicScaling ( IDNewtonEuler * id,

FKJacobian * fkj

)

Constructor.
This constructor creates a DynamicScaling object.
Parameters:

id An IDNewtonEuler pointer to an inverse dynamics newton euler object for the manipulator

fkj A FKJacobian pointer to a forward kinematics jacobian object for the manipulator

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

Destructor.
This is the Destructor for an object of type DynamicScaling.

OSCAR::DynamicScaling::DynamicScaling ( const DynamicScaling & rhs ) [protected]

Member Function Documentation

std::vector<Vector> OSCAR::DynamicScaling::GetScaledTorques ( )

Use this method to get the scaled torque profile. The trajectory and limits must be set before using this method.

Returns:
A vector of joint vectors describing the scaled joint torques

double OSCAR::DynamicScaling::GetTorqueScalingFactor ( )

Use this method to get the maximum scaling factor. The trajectory and limits must be set before using this method.

Returns:
A double whose value is the scaling factor for the trajectory.

DynamicScaling& OSCAR::DynamicScaling::operator= ( const DynamicScaling & rhs ) [protected]

bool OSCAR::DynamicScaling::SetTorqueLimits ( const Vector & limits )

Use this method to set the torque limits for the manipulator.

Parameters:

limits A Vector of joint torque limits

Returns:
true if the method succeeds and false if method fails.

bool OSCAR::DynamicScaling::SetTrajectory ( const std::vector< Vector > pos,

const std::vector< Vector > vel,

const std::vector< Vector > acc

)

Use this method to set the trajectory to be scaled.

Parameters:

pos A vector of joint vectors describing the joint position trajectory

vel A vector of joint vectors describing the joint velocity trajectory

acc A vector of joint vectors describing the joint acceleration trajectory

Returns:
true if the method succeeds and false if method fails.