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OSCAR::HandPoseMotion Class Reference
[MotionPlanning]

This class is designed specifically for developing Cartesian space End-Effector motion using HandPoses. More...

#include <HandPoseMotion.h>

Inheritance diagram for OSCAR::HandPoseMotion:

[legend]List of all members.


Public Methods
	HandPoseMotion (double sampleTime)
	HandPoseMotion (const HandPoseMotion &hpm)
HandPoseMotion &	operator= (const HandPoseMotion &rhs)
bool	GenerateTrajectory (HandPose &initialHand, HandPose &finalHand, double maxVelocity, double maxAcceleration)
unsigned int	GetTrajectorySize ()
double	GetTrajectoryTime ()
bool	GetTrajectory (Matrix &handTrajectory)
virtual	~HandPoseMotion ()
Protected Attributes
double	aMax
double	vMax
double	sampleTime
double	timeTotal
unsigned int	trajSize
Matrix *	handTraj

Detailed Description

Author:: Peter S. March

Constructor & Destructor Documentation

OSCAR::HandPoseMotion::HandPoseMotion ( double sampleTime )

Constructor.
This constructor creates an HandPoseMotion object.
Parameters:

sampleTime This is the sampling time for the system (i.e. the delta time between setpoints).

OSCAR::HandPoseMotion::HandPoseMotion ( const HandPoseMotion & hpm )

Copy Constructor.
This is the Copy constructor for an object of type HandPoseMotion. Use this to construct an HandPoseMotion object from an existing HandPoseMotion object.
Parameters:

hpm An HandPoseMotion object that will be used to initialize this new object.

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

Member Function Documentation

bool OSCAR::HandPoseMotion::GenerateTrajectory ( HandPose & initialHand,

HandPose & finalHand,

double maxVelocity,

double maxAcceleration

)

Use this method to generate a trajectory between an initial and final handpose. This method will ramp up to the Max Velocity using the Max Acceleration.

Returns:
true if the method is able to generate the trajectory, false if some error occurs. Call GetError() to get detailed error information

Parameters:

initialHand This is the initial handpose position (should be the same orientation type as finalHand).

finalHand This is the final handpose position (should be the same orientation type as initialHand).

maxAcceleration This is the ramp-up acceleration.

maxVelocity This is the constant velocity used to complete the motion.

Exceptions:

generationError generationError

bool OSCAR::HandPoseMotion::GetTrajectory ( Matrix & handTrajectory )

Use this method to retrieve the generated trajectory in a matrix.

Returns:
true if the method succeeds, false if some error occurs. Call GetError() to get detailed error information

Parameters:

handTrajectory This is the matrix that will store the trajectory. It should have 6 columns, and the number of rows should be equal to the number returned from GetTrajectorySize().

Exceptions:

matrixSizeMismatch matrixSizeMismatch

See also:
unsigned int GetTrajectorySize()

unsigned int OSCAR::HandPoseMotion::GetTrajectorySize ( )

Use this method to determine the size of the trajectory.

Returns:
An integer value holding the size of the generated trajectory.

See also:
bool GetTrajectory(Matrix& handTrajectory)

double OSCAR::HandPoseMotion::GetTrajectoryTime ( )

Use this method to determine the total time needed to complete the trajectory calculated from the last GenerateTrajectory() call. If the last call to GenerateTrajectory() failed, this value will be zero.

Returns:
An double holding the total time needed to complete the trajectory.

See also:
bool GenerateTrajectory(HandPose& initialHand, HandPose& finalHand, double maxAcceleration, double maxVelocity);
bool GetTrajectory(Matrix& handTrajectory)

HandPoseMotion& OSCAR::HandPoseMotion::operator= ( const HandPoseMotion & rhs )

Assignment operator.
This is the Assignment operator for an object of type HandPoseMotion.
Parameters:

rhs An HandPoseMotion object that goes on the right hand side of the = operator.

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