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

OSCAR::FKJacobianBase Class Reference
[ForwardKinematics]

#include <FKJacobianBase.h>

Inheritance diagram for OSCAR::FKJacobianBase:

Inheritance graph
[legend]
List of all members.

Public Methods

 FKJacobianBase (OSCARError &err=DUMMY_ERROR(noError), const String &name=String(""))
 FKJacobianBase (const FKJacobianBase &fkBase)
FKJacobianBase & operator= (const FKJacobianBase &fkBase)
virtual const Matrix * GetJacobian (const Vector &jointVector)=0
virtual ~FKJacobianBase ()

Detailed Description

Author:
Chetan Kapoor Interface class that specifes the minimum interface a derived class should have that implements a forward Jacobian solution. Derived classes can implement this interface and also inherit from Kinematics to implement additional functionality.

Constructor & Destructor Documentation

OSCAR::FKJacobianBase::FKJacobianBase (  OSCARError &    err = DUMMY_ERROR(noError),
const String &    name = String("")
) 
 

Constructor for FKJacobianBase.

Returns:
This method does not return any values. Error information is returned in the 'err' argument.
Parameters:
err OSCARError pointer 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.
name Name assigned to object

OSCAR::FKJacobianBase::FKJacobianBase (  const FKJacobianBase &    fkBase ) 
 

Copy constructor for FKJacobianBase.

Returns:
This method does not return any values.
Parameters:
fkBase An FKJacobianBase object that will be used to initialize this new object

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

Member Function Documentation

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

Method to Compute the jacobian matrix for the last link (or tool point) of a robot.

This is a pure virtual method and has to be overriden in the derived classes

Returns:
Returns a const pointer to an Matrix that holds the tool point (or last ljnk) based jacobian matrix expressed in the base frame. If there is an error in this method a 0 should be returned.
Parameters:
jointVector A vector containing the joint angles (in radians) or joint positions at which the forward position solution needs to be computed. The size of this vector should be equal to the DOF of the robot.
Exceptions:
argumentSizeMismatch argumentSizeMismatch

Implemented in OSCAR::FKJacobian, OSCAR::FKJacobianMitsubishi, and OSCAR::FKJacobianPlanar3R.

FKJacobianBase& OSCAR::FKJacobianBase::operator= (  const FKJacobianBase &    fkBase ) 
 

operator= for FKJacobianBase

Returns:
A reference to itself
Parameters:
fkBase An FKJacobianBase object that will be used for copying.

The documentation for this class was generated from the following file:
RRG Homepage OSCAR Overview OSCAR Tutorials Simulations