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OSCAR::FKJacobianPlanar3R Class Reference
[ForwardKinematics]

#include <FKJacobianPlanar3R.h>

Inheritance diagram for OSCAR::FKJacobianPlanar3R:

Inheritance graph
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List of all members.

Public Methods

 FKJacobianPlanar3R (const String &DHfilename, OSCARError &err=DUMMY_ERROR(noError), const String &name=String(""))
 FKJacobianPlanar3R (const DHData &dhParams, OSCARError &err=DUMMY_ERROR(noError), const String &name=String(""))
 FKJacobianPlanar3R (const FKJacobianPlanar3R &fkj)
FKJacobianPlanar3R & operator= (const FKJacobianPlanar3R &fkj)
const Xform * GetHandPose (const Vector &jointVector)
const Matrix * GetJacobian (const Vector &jointVector)
virtual ~FKJacobianPlanar3R ()

Private Attributes

double L1
double L2
Xform linkToBase
Matrix jacobian

Detailed Description

Author:
Chetan Kapoor This is a class to handle the kinematics for the special case of a 3R planar manipulator. It employs closed-form solutions for the forward position solution and the Jacobian.

Constructor & Destructor Documentation

OSCAR::FKJacobianPlanar3R::FKJacobianPlanar3R (  const String &    DHfilename,
OSCARError &    err = DUMMY_ERROR(noError),
const String &    name = String("")
) 
 

Constructor for FKJacobianPlanar.

Returns:
This method does not return any values. Error information is returned in the 'err' argument.
Parameters:
DHfilename String object that specifies the name and path of the file that contains the DH parameters of a planar 3R manipulator
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.
Exceptions:
FileNotFound #FileNotFound
badFileData badFileData
dhParamsIllFormed dhParamsIllFormed

OSCAR::FKJacobianPlanar3R::FKJacobianPlanar3R (  const DHData &    dhParams,
OSCARError &    err = DUMMY_ERROR(noError),
const String &    name = String("")
) 
 

Second Constructor for FKJacobianPlanar3R.

Returns:
This method does not return any values. Error information is returned in the 'err' argument.
Parameters:
dhParams A DHData object that holds the DH parameters for a 3R planar robot in whose forward position and Jacobian needs to be calculated
err A pointer to OSCARError 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 you want to assign to the object.
Exceptions:
dhParamsIllFormed dhParamsIllFormed

OSCAR::FKJacobianPlanar3R::FKJacobianPlanar3R (  const FKJacobianPlanar3R &    fkj ) 
 

Copy Constructor for FKJacobianPlanar3R.

Returns:
This method does not return any values.
Parameters:
fkj An FKJacobianPlanar3R object that will be used to initialize this new object.

virtual OSCAR::FKJacobianPlanar3R::~FKJacobianPlanar3R (    )  [inline, virtual]
 

Member Function Documentation

const Xform* OSCAR::FKJacobianPlanar3R::GetHandPose (  const Vector &    jointVector )  [virtual]
 

Method to Compute the forward position solution for the last link (or tool point) of the 3R planar robot.

Use this to compute the tool point position and orientation of a 3R planar robot

Returns:
Returns a const pointer to an Xform that holds the tool point (or last ljnk) transformation 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 (in this case 3). If this is not the case, a 0 is returned. Call GetError() to get detailed error information
Exceptions:
argumentSizeMismatch argumentSizeMismatch

Implements OSCAR::FKPositionBase.

const Matrix* OSCAR::FKJacobianPlanar3R::GetJacobian (  const Vector &    jointVector )  [virtual]
 

Method to Compute the Jacobian for the last link (or tool point) of the 3R planar robot.

Use this to compute the Jacobian for the tool point location of a 3R planar robot

Returns:
Returns a const pointer to an Xform that holds the tool point (or last ljnk) transformation 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 jacobian needs to be computed. The size of this vector should be equal to the DOF of the robot (in this case 3). If this is not the case, a 0 is returned. Call GetError() to get detailed error information
Exceptions:
argumentSizeMismatch argumentSizeMismatch

Implements OSCAR::FKJacobianBase.

FKJacobianPlanar3R& OSCAR::FKJacobianPlanar3R::operator= (  const FKJacobianPlanar3R &    fkj ) 
 

operator = for FKJacobianPlanar3R

Returns:
A reference to itself
Parameters:
fkj An FKJacobianPlanar3R object that will be used in copying.

Member Data Documentation

Matrix OSCAR::FKJacobianPlanar3R::jacobian [private]
 

double OSCAR::FKJacobianPlanar3R::L1 [private]
 

double OSCAR::FKJacobianPlanar3R::L2 [private]
 

Xform OSCAR::FKJacobianPlanar3R::linkToBase [private]
 

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