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

OSCAR::FKPositionBase Class Reference
[ForwardKinematics]

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

#include <FKPositionBase.h>

Inheritance diagram for OSCAR::FKPositionBase:

Inheritance graph
[legend]
List of all members.

Public Methods

 FKPositionBase (OSCARError &err=DUMMY_ERROR(noError), const String &name=String(""))
 FKPositionBase (const FKPositionBase &fkBase)
virtual const Xform * GetHandPose (const Vector &jointVector)=0
FKPositionBase & operator= (const FKPositionBase &fkp)
virtual ~FKPositionBase ()

Detailed Description

Author:
Chetan Kapoor

Constructor & Destructor Documentation

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

Constructor.

Constructor for FKPositionBase

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::FKPositionBase::FKPositionBase (  const FKPositionBase &    fkBase ) 
 

Copy Constructor.

A copy constructor for FKPositionBase.

Parameters:
fkBase An existing FKPositionBase object that will be used to initialize this new object.

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

Member Function Documentation

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

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

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

Implemented in OSCAR::FKJacobianMitsubishi, OSCAR::FKJacobianPlanar3R, OSCAR::FKPosition, OSCAR::FKPositionMitsubishi, OSCAR::FKPositionPuma, and OSCAR::FKPositionSpatial3R.

FKPositionBase& OSCAR::FKPositionBase::operator= (  const FKPositionBase &    fkp ) 
 

= operator. Used for copying objects of type FKPositionBase

Returns:
A reference to the object on the left hand side of the = operator
Parameters:
fkp An FKPositionBase object that goes on the right hand side of the = operator

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