Main Page Modules Namespace List Class Hierarchy Alphabetical List Compound List File List Namespace Members Compound Members File Members Related Pages

OSCAR::EEPerturbation Class Reference
[DecisionMaking]

This class creates a series of options in a sphere around the end-effector. More...

#include <EEPerturbation.h>

Inheritance diagram for OSCAR::EEPerturbation:

[legend]List of all members.


Public Methods
	EEPerturbation (double radius)
virtual	~EEPerturbation ()
void	SetInput (const HandPose &inputHand)
unsigned int	GetNoOfOptions () const
bool	GetOptions (VectorArray &outputs)
void	SetRadius (double newRadius)
double	GetRadius () const
Protected Methods
void	fillOne (Vector3 &toFill, double theta, double phi)
Protected Attributes
std::vector< Vector3 >	trigArray
HandPose	currentHand
double	perturbRadius
unsigned int	noOfOptions

Detailed Description

Author:: Peter March

Since this class generates a sphere of options (as opposed to a cube of options in Perturbation), all options are equidistant from the current position and present smother motion of the EE. It perturbs the XYZ locations of the end-effector, but not roll, pitch, or yaw.