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OSCAR::IKPosition Class Reference
[InverseKinematics]

IKPosition acts as the base class for inverse position functionality. More...

#include <IKPosition.h>

Inheritance diagram for OSCAR::IKPosition:

Inheritance graph
[legend]
List of all members.

Public Methods

 IKPosition (OSCARError &err=DUMMY_ERROR(noError), const String &name=String(""))
 IKPosition (const IKPosition &rhs)
virtual ~IKPosition ()
virtual bool GetJointPosition (const Xform &handXform, JointVector &jointPositionSolution)=0
virtual bool GetJointPosition (const HandPose &handPose, JointVector &jointPositionSolution)=0
IKPosition & operator= (const IKPosition &ikp)

Detailed Description

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

Constructor & Destructor Documentation

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

Constructor.

This is the constructor for an object of type IKPosition. Use this to create a IKPosition object.

Parameters:
err An OSCARError reference 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 to assign to the object. Default is " "

OSCAR::IKPosition::IKPosition (  const IKPosition &    rhs ) 
 

Copy Constructor.

This is the Copy constructor for an object of type IKPosition. Use this to construct an IKPosition object based on an existing IKPosition object.

Parameters:
rhs An IKPosition object that will be used to initialize this new object.

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

Destructor.

This is the destructor for an object of type IKPosition.

Member Function Documentation

virtual bool OSCAR::IKPosition::GetJointPosition (  const HandPose &    handPose,
JointVector &    jointPositionSolution
)  [pure virtual]
 

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

This method is an interface to compute the inverse position solution for the last link (or tool point) of a robot. This is a pure virtual method and has to be overriden in the derived classes

Parameters:
handPose A 6 long vector that that specifies the end-effector position and orientation (as FixedXYZ angles) for which an inverse solution needs to be calculated.
jointPositionSolution A vector of size equal to DOF of the robot. On return, this vector will contain the the inverse position solution.
Returns:
True if successful. Otherwise False. Call GetError() to get detailed error information.
See also:
GetJointPosition(const Xform& handXform, Vector& jointPositionSolution)

Implemented in OSCAR::IKCCD, OSCAR::IKDirectSearch, OSCAR::IKJacobian< JacobianType >, OSCAR::IKJDLS< JacobianType >, OSCAR::IKJReconfig< JacobianType >, OSCAR::IKMitsubishi, OSCAR::IKPuma, OSCAR::IKJacobian< >, OSCAR::IKJacobian< FKJacobian >, and OSCAR::IKJReconfig< >.

virtual bool OSCAR::IKPosition::GetJointPosition (  const Xform &    handXform,
JointVector &    jointPositionSolution
)  [pure virtual]
 

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

This method is an interface to compute the inverse position solution for the last link (or tool point) of a robot. This is a pure virtual method and has to be overriden in the derived classes.

Parameters:
handXform A 4X4 transformation matrix that specifies the end-effector position and orientation for which an inverse solution needs to be calculated.
jointPositionSolution A vector of size equal to DOF of the robot. On return, this vector will contain the the inverse position solution.
Returns:
True if successful. Otherwise False. Call GetError() to get detailed error information.
See also:
GetJointPosition(const HandPose& handPose, Vector& jointPositionSolution)

Implemented in OSCAR::IKCCD, OSCAR::IKDirectSearch, OSCAR::IKJacobian< JacobianType >, OSCAR::IKJDLS< JacobianType >, OSCAR::IKJReconfig< JacobianType >, OSCAR::IKMitsubishi, OSCAR::IKPuma, OSCAR::IKJacobian< >, OSCAR::IKJacobian< FKJacobian >, and OSCAR::IKJReconfig< >.

IKPosition& OSCAR::IKPosition::operator= (  const IKPosition &    ikp ) 
 

Assignment operator.

This is the Assignment operator for an object of type IKPosition.

Parameters:
ikp An IKPosition 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.

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