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OSCAR::FKAcceleration Class Reference
[ForwardKinematics]

#include <FKAcceleration.h>

Inheritance diagram for OSCAR::FKAcceleration:

[legend]List of all members.

Public Methods
	FKAcceleration (const String &DHfilename, OSCARError &err=DUMMY_ERROR(noError))
	FKAcceleration (const DHData &dhParams, OSCARError &err=DUMMY_ERROR(noError))
	FKAcceleration (const FKAcceleration &rhs)
FKAcceleration &	operator= (const FKAcceleration &rhs)
const Tensor *	GetRotationalHfunctions (unsigned int jointNo)
const Tensor *	GetRotationalHfunctions (unsigned int jointNo, const Vector &jointVector)
const TensorP *	GetRotationalHfunctions (void)
const TensorP *	GetRotationalHfunctions (const Vector &jointVector)
const Tensor *	GetTranslationalHfunctions (unsigned int jointNo)
const Tensor *	GetTranslationalHfunctions (unsigned int jointNo, const Vector &jointVector)
const TensorP *	GetTranslationalHfunctions (void)
const TensorP *	GetTranslationalHfunctions (const Vector &jointVector)
virtual	~FKAcceleration ()
Protected Methods
void	initTensorArray (unsigned int dof)
void	deleteTensorArray (unsigned int dof)
void	calculateRotationalHfunctions (unsigned int joint_no)
void	calculateTranslationalHfunctions (unsigned int joint_no)
Protected Attributes
TensorP *	rot_h_func
TensorP *	trans_h_func

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Detailed Description

This class expands on the functionality of FKVelocity to add methods for calculating the translational and rotational H functions.

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Constructor & Destructor Documentation

OSCAR::FKAcceleration::FKAcceleration (  const String &    DHfilename, OSCARError &    err = DUMMY_ERROR(noError) )

Constructor. This is the constructor for an object of type FKAcceleration. Use this to construct an FKAcceleration object from a file. Parameters: DHfilename  A String object that specifies the name and path of the file that contains the DH parameters. err  A reference to a OSCARError object that holds the value of the error code that was generated when the constructor was called. If this error was not 'noError' you can call GetError() to get the details of the error code.

OSCAR::FKAcceleration::FKAcceleration (  const DHData &    dhParams, OSCARError &    err = DUMMY_ERROR(noError) )

Constructor. This is the constructor for an object of type FKAcceleration. Use this to construct an FKAcceleration object from a DHData object. Parameters: dhParams  A DHData object that holds the DH parameters for the robot in whose forward position solution needs to be computed. err  A reference to a OSCARError object that holds the value of the error code that was generated when the constructor was called. If this error was not 'noError' you can call GetError() to get the details of the error code.

OSCAR::FKAcceleration::FKAcceleration (  const FKAcceleration &    rhs )

Copy Constructor. This is the Copy constructor for an object of type FKAcceleration. Use this to construct an FKAcceleration object from an existing FKAcceleration object. Parameters: rhs  An FKAcceleration object that will be used to initialize this new object.

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

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Member Function Documentation

void OSCAR::FKAcceleration::calculateRotationalHfunctions (  unsigned int    joint_no )  [protected]

void OSCAR::FKAcceleration::calculateTranslationalHfunctions (  unsigned int    joint_no )  [protected]

void OSCAR::FKAcceleration::deleteTensorArray (  unsigned int    dof )  [protected]

const TensorP* OSCAR::FKAcceleration::GetRotationalHfunctions (  const Vector &    jointVector )

Method for computing and getting the rotational H functions (2nd order influence coefficients). The rotational H functions are computed based on the joint position given in jointVector. Returns: A pointer to an array of tensor pointers. Each pointer in this array points to a tensor containing the rotational H functions for a particular link. Parameters: jointVector  Vector of joint positions for which the rotational H function is desired.

const TensorP* OSCAR::FKAcceleration::GetRotationalHfunctions (  void    )

Method for computing and getting the rotational H functions (2nd order influence coefficients). The current state of the global transformation matrices is used for the computation. Returns: A pointer to an array of tensor pointers. Each pointer in this array points to a tensor containing the rotational H functions for a particular link.

const Tensor* OSCAR::FKAcceleration::GetRotationalHfunctions (  unsigned int    jointNo, const Vector &    jointVector )

Method for computing and getting the rotational H functions (2nd order influence coefficients). The rotational H functions are computed based on the joint position given in jointVector. Returns: A pointer to a tensor containing the rotational H function for jointNo. Parameters: jointNo  Number of the link for which the rotational H function is desired. jointVector  Vector of joint positions for which the rotational H function is desired.

const Tensor* OSCAR::FKAcceleration::GetRotationalHfunctions (  unsigned int    jointNo )

Method for computing and getting the rotational H functions (2nd order influence coefficients). The current state of the global transformation matrices is used for the computation. Returns: A pointer to a tensor containing the rotational H function for jointNo. Parameters: jointNo  Number of the link for which the rotational H function is desired.

const TensorP* OSCAR::FKAcceleration::GetTranslationalHfunctions (  const Vector &    jointVector )

Method for computing and getting the translational H functions (2nd order influence coefficients). The translational H functions are computed based on the joint position given in jointVector. Returns: A pointer to an array of tensor pointers. Each pointer in this array points to a tensor containing the translational H functions for a particular link. Parameters: jointVector  Vector of joint positions for which the translational H function is desired.

const TensorP* OSCAR::FKAcceleration::GetTranslationalHfunctions (  void    )

Method for computing and getting the translational H functions (2nd order influence coefficients). The current state of the global transformation matrices is used for the computation. Returns: A pointer to an array of tensor pointers. Each pointer in this array points to a tensor containing the translational H functions for a particular link.

const Tensor* OSCAR::FKAcceleration::GetTranslationalHfunctions (  unsigned int    jointNo, const Vector &    jointVector )

Method for computing and getting the translational H functions (2nd order influence coefficients). The translational H functions are computed based on the joint position given in jointVector. Returns: A pointer to a tensor containing the translational H function for jointNo. Parameters: jointNo  Number of the link for which the translational H function is desired. jointVector  Vector of joint positions for which the translational H function is desired.

const Tensor* OSCAR::FKAcceleration::GetTranslationalHfunctions (  unsigned int    jointNo )

Method for computing and getting the translational H functions (2nd order influence coefficients). The current state of the global transformation matrices is used for the computation. Returns: A pointer to a tensor containing the translational H function for jointNo. Parameters: jointNo  Number of the link for which the translational H function is desired.

void OSCAR::FKAcceleration::initTensorArray (  unsigned int    dof )  [protected]

FKAcceleration& OSCAR::FKAcceleration::operator= (  const FKAcceleration &    rhs )

Assignment operator. This is the Assignment operator for an object of type FKAcceleration. Parameters: rhs  An FKAcceleration object that goes on the right hand side of the = operator. Returns: A reference to the object on the left hand side of the = operator.

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Member Data Documentation

TensorP* OSCAR::FKAcceleration::rot_h_func [protected]

TensorP* OSCAR::FKAcceleration::trans_h_func [protected]

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

• FKAcceleration.h

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