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OSCAR::FKPositionSpatial3R Class Reference
[ForwardKinematics]

This class contains the ForwardKinematics interface for a Spatial 3R manipulator. More...

#include <FKPositionSpatial3R.h>

Inheritance diagram for OSCAR::FKPositionSpatial3R:

Inheritance graph
[legend]
List of all members.

Public Methods

 FKPositionSpatial3R (const String &DHfilename, OSCARError &err=DUMMY_ERROR(noError), const String &name=String(""))
 FKPositionSpatial3R (const DHData &DHparams, OSCARError &err=DUMMY_ERROR(noError), const String &name=String(""))
 FKPositionSpatial3R (const FKPositionSpatial3R &fkps)
FKPositionSpatial3R & operator= (const FKPositionSpatial3R &fkps)
const Xform * GetHandPose (const Vector &jointVector)
virtual ~FKPositionSpatial3R ()

Private Attributes

double a2
double a3
Xform linkToBase

Detailed Description

Author:
Chetan Kapoor

Constructor & Destructor Documentation

OSCAR::FKPositionSpatial3R::FKPositionSpatial3R (  const String &    DHfilename,
OSCARError &    err = DUMMY_ERROR(noError),
const String &    name = String("")
) 
 

Constructor.

Constructor for FKPositionSpatial3R

Parameters:
DHfilename String object that specifies the name and path of the file that contains the DH parameters of a spatial 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

OSCAR::FKPositionSpatial3R::FKPositionSpatial3R (  const DHData &    DHparams,
OSCARError &    err = DUMMY_ERROR(noError),
const String &    name = String("")
) 
 

Constructor.

Constructor for FKPositionSpatial3R

Parameters:
DHparams An DHData object that holds the DH parameters for the puma robot in whose forward position solution needs to be computed.
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::FKPositionSpatial3R::FKPositionSpatial3R (  const FKPositionSpatial3R &    fkps ) 
 

A Const Reference constructor for FKPositionSpatial3R.

Parameters:
fkps An FKPositionSpatial3R object that will be used to initialize this new object.

virtual OSCAR::FKPositionSpatial3R::~FKPositionSpatial3R (    )  [inline, virtual]
 

Member Function Documentation

const Xform* OSCAR::FKPositionSpatial3R::GetHandPose (  const Vector &    jointVector )  [virtual]
 

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

Implements OSCAR::FKPositionBase.

FKPositionSpatial3R& OSCAR::FKPositionSpatial3R::operator= (  const FKPositionSpatial3R &    fkps ) 
 

= operator. Used for copying objects of type FKPositionSpatial3R

Returns:
A reference to the object on the left hand side of the = operator
Parameters:
fkps An FKPositionSpatial3R object that goes on the right hand side of the = operator

Member Data Documentation

double OSCAR::FKPositionSpatial3R::a2 [private]
 

double OSCAR::FKPositionSpatial3R::a3 [private]
 

Xform OSCAR::FKPositionSpatial3R::linkToBase [private]
 

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