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OSCAR::FKVelocity Class Reference
[ForwardKinematics]

#include <FKVelocity.h>

Inheritance diagram for OSCAR::FKVelocity:

Inheritance graph
[legend]
List of all members.

Public Methods

 FKVelocity (const String &DHfilename, OSCARError &err=DUMMY_ERROR(noError))
 FKVelocity (const DHData &dhParams, OSCARError &err=DUMMY_ERROR(noError))
 FKVelocity (const FKVelocity &fkv)
FKVelocity & operator= (const FKVelocity &fkv)
void SetLinkPoints (const ReferenceFrame frame)
bool SetLinkPoints (const Matrix &linkPoints, const ReferenceFrame frame=Local)
bool SetLinkPoint (const Vector3 &newPoint, unsigned int frameNum)
const Tensor * GetRotationalGfunctions (void)
const Tensor * GetRotationalGfunctions (const Vector &jointVector)
const Tensor * GetTranslationalGfunctions (void)
const Tensor * GetTranslationalGfunctions (const Vector &jointVector)
const Matrix * GetTranslationalGfunction (unsigned int jointNo)
const Matrix * GetTranslationalGfunction (unsigned int jointNo, const Vector &jointVector)
virtual ~FKVelocity ()

Protected Methods

void calculateGlobalPosition (unsigned int joint_no, Vector3 *calcGlob)
void calculateRotationalGfunctions (void)
void calculateTranslationalGfunctions (unsigned int joint_no)

Protected Attributes

ReferenceFrame frameMode
Matrix * localLinkPoints
Matrix * globalLinkPoints
Tensor * rot_g_func
Tensor * trans_g_func

Detailed Description

This class expands on the functionality of FKPosition to add methods for calculating the translational and rotational G functions.

Constructor & Destructor Documentation

OSCAR::FKVelocity::FKVelocity (  const String &    DHfilename,
OSCARError &    err = DUMMY_ERROR(noError)
) 
 

Constructor for FKVelocity.

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.
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.
Exceptions:
FileNotFound #FileNotFound
badFileData badFileData
dhParamsIllFormed dhParamsIllFormed

OSCAR::FKVelocity::FKVelocity (  const DHData &    dhParams,
OSCARError &    err = DUMMY_ERROR(noError)
) 
 

Second Constructor for FKVelocity.

Returns:
This method does not return any values. Error information is returned in the 'err' argument.
Parameters:
dhParams An DHData object containing the DH Parameters for the system.
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.
Exceptions:
dhParamsIllFormed dhParamsIllFormed

OSCAR::FKVelocity::FKVelocity (  const FKVelocity &    fkv ) 
 

Copy Constructor for FKVelocity.

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

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

Member Function Documentation

void OSCAR::FKVelocity::calculateGlobalPosition (  unsigned int    joint_no,
Vector3 *    calcGlob
)  [protected]
 

void OSCAR::FKVelocity::calculateRotationalGfunctions (  void    )  [protected]
 

void OSCAR::FKVelocity::calculateTranslationalGfunctions (  unsigned int    joint_no )  [protected]
 

const Tensor* OSCAR::FKVelocity::GetRotationalGfunctions (  const Vector &    jointVector ) 
 

Method to compute the rotational 1st order influence coefficients. The joint positions described in jointVector are used for this computation.

Returns:
A constant pointer to a tensor of size DOFx3xDOF that contains the rotation G functions
Parameters:
jointVector A vector of size DOF that contains the joint positions for which the rotational G functions have to be computed.

const Tensor* OSCAR::FKVelocity::GetRotationalGfunctions (  void    ) 
 

Method to compute the rotational 1st order influence coefficients. The current state of the global transformation matrices is used for the computation.

Returns:
A constant pointer to a tensor of size DOFx3xDOF that contains the rotation G functions

const Matrix* OSCAR::FKVelocity::GetTranslationalGfunction (  unsigned int    jointNo,
const Vector &    jointVector
) 
 

Method to compute the translational 1st order influence coefficients for a single joint. The joint positions described in jointVector are used for this computation.

Returns:
A constant pointer to a matrix of size 3xDOF that contains the translational G functions for the joint in jointNo.
Parameters:
jointVector A vector of size DOF that contains the joint positions for which the translational G functions have to be computed.
jointNo An integer describing the link-joint pair to get the G functions for.

const Matrix* OSCAR::FKVelocity::GetTranslationalGfunction (  unsigned int    jointNo ) 
 

Method to compute the translational 1st order influence coefficients for a single joint. The current state of the global transformation matrices is used for the computation.

Returns:
A constant pointer to a matrix of size 3xDOF that contains the translational G functions for the joint in jointNo.
Parameters:
jointNo An integer describing the link-joint pair to get the G functions for.

const Tensor* OSCAR::FKVelocity::GetTranslationalGfunctions (  const Vector &    jointVector ) 
 

Method to compute the translational 1st order influence coefficients. The joint positions described in jointVector are used for this computation.

Returns:
A constant pointer to a tensor of size DOFx3xDOF that contains the translational G functions
Parameters:
jointVector A vector of size DOF that contains the joint positions for which the translational G functions have to be computed.

const Tensor* OSCAR::FKVelocity::GetTranslationalGfunctions (  void    ) 
 

Method to compute the translational 1st order influence coefficients. The current state of the global transformation matrices is used for the computation.

Returns:
A constant pointer to a tensor of size DOFx3xDOF that contains the translational G functions

FKVelocity& OSCAR::FKVelocity::operator= (  const FKVelocity &    fkv ) 
 

= operator. Used for copying objects of type FKVelocity

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

bool OSCAR::FKVelocity::SetLinkPoint (  const Vector3 &    newPoint,
unsigned int    frameNum
) 
 

Method to set the location of a single robot links "point" to be used in the calculation of G functions. The reference frame (local or global) will remain unchanged, and the point sent in must match the currently set reference frame for the entire manipulator.

Parameters:
linkPoint A Vector3 specifying the new link point.
frameNum The number of the frame which you want to change (indexing runs from 0 to DOF - 1)
Returns:
True if method succeeds, false if there is an error. Call GetError() to get detailed error information.

bool OSCAR::FKVelocity::SetLinkPoints (  const Matrix &    linkPoints,
const ReferenceFrame    frame = Local
) 
 

Method to set the location of points on the robot links. This method is used to set the Reference Frame and link point positions to be used for the G functions. The default link positions are all {0,0,0}.

Parameters:
linkPoints An Matrix object of size 3xDOF that contains the X,Y,Z coordinates for the link point for each joint.
frame An ReferenceFrame object that specifies Local or Global reference frames for the link positions.
Returns:
True if the method succeeds, false if some error occurs. Call GetError() to get detailed error information.
Exceptions:
matrixSizeMismatch matrixSizeMismatch
See also:
void SetLinkPoints(ReferenceFrame frame);

void OSCAR::FKVelocity::SetLinkPoints (  const ReferenceFrame    frame ) 
 

Method to set the location of points on the robot links. This method is used to set the Reference Frame to either Local or Global. If the linkPoints have not been explicitly defined using SetLinkPoints(const Matrix& linkPoints, ReferenceFrame frame=Local), the link positions for each joint will be {0,0,0}.

Parameters:
frame An ReferenceFrame object that specifies Local or Global reference frames for the link positions.
See also:
bool SetLinkPoints(const Matrix& linkPoints, ReferenceFrame frame=Local);

Member Data Documentation

ReferenceFrame OSCAR::FKVelocity::frameMode [protected]
 

the current mode for g function calculation

Matrix* OSCAR::FKVelocity::globalLinkPoints [protected]
 

3 X DOF. Contains the global positions of the points

Matrix* OSCAR::FKVelocity::localLinkPoints [protected]
 

3 X DOF. Contains the local positions of the points

Tensor* OSCAR::FKVelocity::rot_g_func [protected]
 

DOF X 3 X DOF. This will hold the rotational.

Tensor* OSCAR::FKVelocity::trans_g_func [protected]
 

DOF X 3 X DOF. This will hold the.

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