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OSCAR::FKJacobian Class Reference
[ForwardKinematics]

#include <FKJacobian.h>

Inheritance diagram for OSCAR::FKJacobian:

[legend]List of all members.


Public Types
enum	JacobianType { Full = 0, Partial = 1 }
Public Methods
	FKJacobian (const String &dhFilename, OSCARError &err=DUMMY_ERROR(noError))
	FKJacobian (const DHData &dhParams, OSCARError &err=DUMMY_ERROR(noError))
	FKJacobian (const FKJacobian &fkj)
FKJacobian &	operator= (const FKJacobian &fkj)
bool	SetActiveOutputs (const CoordinateStatusArray &activeOutputs)
const CoordinateStatusArray &	GetActiveOutputs () const
unsigned int	GetNumberOfActiveOutputs () const
const Matrix *	GetJacobian (JacobianType JType=Partial)
const Matrix *	GetPreviouslyComputedJacobian (JacobianType JType=Partial)
const Matrix *	GetJacobian (const Vector &jointVector)
const Matrix *	GetJacobian (const JointVector &jointVector)
const Matrix *	GetJacobianTranspose (JacobianType JacobianType=Partial)
bool	ConvertVelocityToFixedXYZ (const OSCAR::HandPose &handPosition, OSCAR::HandPose &handVelocity)
virtual	~FKJacobian ()
Protected Methods
virtual void	calculateJacobian (void)
virtual void	calculateJacobianColumn (int jointNo)
virtual void	extractPartialJacobian ()
virtual void	resizePartialJacobian ()
Protected Attributes
CoordinateSpace	activeOutputs
CoordinateSpace *	activeInputs
unsigned int	nActiveOutputs
unsigned int	nActiveInputs
Matrix *	jacobian
Matrix *	jacobianTranspose
Matrix *	partialJacobian
Matrix *	partialJacobianTranspose

Detailed Description

Jacobian class for the forward kinematics domain. It contains the functionalty to generate the Jacobian matrix for a given set of dh-parameters and joint position vector. It can generate a Full jacobian - one that includes the influence of all joints on a 6-dimensional output space Partial jacobian - one that inlcudes the influence of only ACTIVE joints on the ACTIVE output space

Member Enumeration Documentation

enum OSCAR::FKJacobian::JacobianType

Enumeration values:

Full

Partial

Constructor & Destructor Documentation

OSCAR::FKJacobian::FKJacobian ( const String & dhFilename,

OSCARError & err = DUMMY_ERROR(noError)

)

Constructor.
Use this to construct an FKJacobian 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::FKJacobian::FKJacobian ( const DHData & dhParams,

OSCARError & err = DUMMY_ERROR(noError)

)

Constructor.
Use this to construct an FKJacobian object from an 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::FKJacobian::FKJacobian ( const FKJacobian & fkj )

Copy Constructor.
This is the Copy constructor for an object of type FKJacobian. Use this to construct an FKJacobian object from an existing FKJacobian object.
Parameters:

fkj An FKJacobian object that will be used to initialize this new object.

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

Member Function Documentation

virtual void OSCAR::FKJacobian::calculateJacobian ( void ) [protected, virtual]

virtual void OSCAR::FKJacobian::calculateJacobianColumn ( int jointNo ) [protected, virtual]

bool OSCAR::FKJacobian::ConvertVelocityToFixedXYZ ( const OSCAR::HandPose & handPosition,

OSCAR::HandPose & handVelocity

)

Use this method to convert an Angular Velocity Vector into velocities defined as FixedXYZ angles.
When the Jacobian is calculated, it relates the input joints to an angular velocity vector. Thus, when the Jacobian is multiplied by an joint velocity vector, the resultant orientation speeds are defined as the angular velocity vector. This vector taken as a unit vector represents the instantaneous axis of rotation and its magnitude represents the speed of rotation about that axis. This function converts the orientation portion of the input HandPose to FixedXYZ velocities.
Parameters:

handPosition The current hand position of the manipulator. This information is needed in the velocity conversion.

handVelocity A HandPose object containing velocity data. The orientation velocities will be converted from an angular velocity vector to FixedXYZ velocities.

Returns:
true if the method succeeds, false if some error occurs. Call GetError() to get detailed error information

virtual void OSCAR::FKJacobian::extractPartialJacobian ( ) [protected, virtual]

const CoordinateStatusArray& OSCAR::FKJacobian::GetActiveOutputs ( ) const

Use this method to retrieve the current active outputs. The number of active outputs will equal the number of rows in the partial Jacobian.

Returns:
An array that contains the current active outputs.

Exceptions:

argumentSizeIncorrect argumentSizeIncorrect

invalidOutputSpace invalidOutputSpace

const Matrix* OSCAR::FKJacobian::GetJacobian ( const JointVector & jointVector )

Use this method to retrieve the Jacobian matrix. This method will resize the Jacobian matrix based on the input coordinates from the JointVector and the output coordinates set internally.

Parameters:

jointVector A vector of size 1xDOF containing the joint values.

Returns:
A pointer to the Jacobian matrix.

Exceptions:

argumentSizeIncorrect argumentSizeIncorrect

invalidInputSpace invalidInputSpace

const Matrix* OSCAR::FKJacobian::GetJacobian ( const Vector & jointVector ) [virtual]

Use this method to retrieve the Jacobian matrix. This method will leave all of the input coordinates in the Jacobian active, but it will still resize the Jacobian if the output coordinates aren't all active. This method first computes the forward position solution and then the jacobian.

Parameters:

jointVector A vector of size 1xDOF containing the joint values.

Returns:
A pointer to the Jacobian matrix.

Exceptions:

argumentSizeIncorrect argumentSizeIncorrect

invalidInputSpace invalidInputSpace

Implements OSCAR::FKJacobianBase.

const Matrix* OSCAR::FKJacobian::GetJacobian ( JacobianType JType = Partial )

Use this method to retrieve the partial or full Jacobian matrix. The jacobian is computed based on the previously computed transformation matrices when GetHandPose was called.

Parameters:

JacobianType This parameter sets whether the Jacobian will be partial or full. The default value is partial.

Returns:
A pointer to the Jacobian matrix.

Exceptions:

argumentSizeIncorrect argumentSizeIncorrect

invalidInputSpace invalidInputSpace

const Matrix* OSCAR::FKJacobian::GetJacobianTranspose ( JacobianType JacobianType = Partial )

Use this method to retrieve the transpose of the partial or full Jacobian matrix.

Parameters:

JacobianType This parameter sets whether the Jacobian will be partial or full. The default value is partial.

Returns:
A pointer to the Jacobian matrix.

Exceptions:

argumentSizeIncorrect argumentSizeIncorrect

invalidInputSpace invalidInputSpace

unsigned int OSCAR::FKJacobian::GetNumberOfActiveOutputs ( ) const

Use this method to retrieve the current number of active outputs. ill equal the number of rows in the partial Jacobian.

Returns:
The number of active outputs.

const Matrix* OSCAR::FKJacobian::GetPreviouslyComputedJacobian ( JacobianType JType = Partial )

Use this method to retrieve the partial or full Jacobian matrix. This method simply returns the already computed jacobian.

Parameters:

JacobianType This parameter sets whether the Jacobian will be partial or full. The default value is partial.

Returns:
A pointer to the Jacobian matrix.

Exceptions:

argumentSizeIncorrect argumentSizeIncorrect

invalidInputSpace invalidInputSpace

FKJacobian& OSCAR::FKJacobian::operator= ( const FKJacobian & fkj )

Assignment operator.
This is the Assignment operator for an object of type FKJacobian.
Parameters:

fkj An FKJacobian 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.

virtual void OSCAR::FKJacobian::resizePartialJacobian ( ) [protected, virtual]

bool OSCAR::FKJacobian::SetActiveOutputs ( const CoordinateStatusArray & activeOutputs )

Use this method to set what output dimensions are active. The number of active outputs will equal the number of rows in the partial Jacobian.

Returns:
true if the method succeeds, false if some error occurs. Call GetError() to get detailed error information

Parameters:

activeOutputs An array that contains the desired active outputs.

Exceptions:

argumentSizeIncorrect argumentSizeIncorrect