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OSCAR::FKPositionPuma Class Reference
[ForwardKinematics]

This class contains the ForwardKinematics interface for a Puma manipulator. More...

#include <FKPositionPuma.h>

Inheritance diagram for OSCAR::FKPositionPuma:

[legend]List of all members.


Public Methods
	FKPositionPuma (const String &dhParameterFileName, OSCARError &err=DUMMY_ERROR(noError), const String &name=String(""))
	FKPositionPuma (const DHData &DHparams, OSCARError &err=DUMMY_ERROR(noError), const String &name=String(""))
	FKPositionPuma (const FKPositionPuma &fkp)
FKPositionPuma &	operator= (const FKPositionPuma &fkp)
const Xform *	GetHandPose (const Vector &inputVector)
virtual	~FKPositionPuma ()
Private Attributes
double	a2
double	d4
double	d3
double	a3
Xform	linkToBase

Detailed Description

Author:: Chetan Kapoor

Constructor & Destructor Documentation

OSCAR::FKPositionPuma::FKPositionPuma ( const String & dhParameterFileName,

OSCARError & err = DUMMY_ERROR(noError),

const String & name = String("")

)

Constructor.
Constructor for FKPositionPuma
Parameters:

dhParameterFileName The name of a file that contains the DH parameters for the Puma robot. This file should specify a 6 DOF robot in the standard puma geometry. The standard Puma DH parameters are listed below. You can only change the values of a(i-1) columns and the d(i) column.

-----------------------------------------------------------------------------------------
# This is a DH parameter file for a Puma 760 6 DOF robot. # The variable is specified by typing a "var' or a "VAR" in its # field. i.e. If the joint is revolute then it will be in the fourth # coulumn and if the joint is prismatic it will be in the third column # The notation is based on the "Introduction to Robotics, Mechanics and Controls" # book by John Craig. Units below are degrees and mm
# The word below should specify the format of the DH Parameters (Craig or Featherstone) Craig

# Alpha(i-1) a(i-1) d(i) theta(i)

0 0 0 var # link 0-1

-90 0 0 var # link 1-2

0 650 200 var # link 2-3

-90 0 690 var # link 3-4

90 0 0 var # link 4-5

-90 0 0 var # link 5-6

# Note: The tool point for this robot is at approximately [0, 0, 180] at the tool plate # expressed in the last joints DH frame
-----------------------------------------------------------------------------------------
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::FKPositionPuma::FKPositionPuma ( const DHData & DHparams,

OSCARError & err = DUMMY_ERROR(noError),

const String & name = String("")

)

Constructor.
Constructor for FKPositionPuma
Parameters:

DHparams An DHData object that holds the DH parameters for the puma robot in whose forward position solution needs to be computed. It is assumed that the geometry specified in the DH params is that of a puma 560 robot. The only information that will be pulled out of the DH parameters supplied will be the link lengths.

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::FKPositionPuma::FKPositionPuma ( const FKPositionPuma & fkp )

A Const Reference constructor for FKPositionPuma.

Parameters:

fkp An FKPositionPuma object that will be used to initialize this new object.

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

Member Function Documentation

const Xform* OSCAR::FKPositionPuma::GetHandPose ( const Vector & inputVector ) [virtual]

This method overrides the base class method. This class basically exists so that a closed form solution could be used.

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:

inputVector 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

Implements OSCAR::FKPositionBase.

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

= operator. Used for copying objects of type FKPositionPuma

Returns:
A reference to the object on the left hand side of the = operator

Parameters:

fkp An FKPositionPuma object that goes on the right hand side of the = operator