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OSCAR::IKVelocity Class Reference
[InverseKinematics]

IKVelocity acts as the base class for inverse velocity functionality. More...

#include <IKVelocity.h>

Inheritance diagram for OSCAR::IKVelocity:

Inheritance graph
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List of all members.

Public Methods

 IKVelocity (OSCARError &err=DUMMY_ERROR(noError), const String &name=String(""))
 IKVelocity (const IKVelocity &rhs)
virtual ~IKVelocity ()
virtual bool GetJointVelocity (const HandPose &handVelocity, JointVector &jointVelocitySolution)=0
IKVelocity & operator= (const IKVelocity &rhs)

Detailed Description

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

Constructor & Destructor Documentation

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

Constructor.

This is the constructor for an object of type IKVelocity. Use this to construct an IKVelocity 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::IKVelocity::IKVelocity (  const IKVelocity &    rhs ) 
 

Copy Constructor.

This is the Copy Constructor for an object of type IKVelocity. Use this to construct an IKVelocity object from an existing IKVelocity object.

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

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

Destructor.

This is the Destructor for an object of type IKVelocity.

Member Function Documentation

virtual bool OSCAR::IKVelocity::GetJointVelocity (  const HandPose &    handVelocity,
JointVector &    jointVelocitySolution
)  [pure virtual]
 

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

This method is an interface to compute the inverse velocity 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:
handVelocity A 6 long vector that that specifies the end-effector translational and rotational velocities (as FixedXYZ angles) for which an inverse solution needs to be calculated
jointVelocitySolution A vector of size equal to DOF of the robot. On return, this vector will contain the the inverse velocity solution
Returns:
True if successful. Otherwise False. Call GetError() to get detailed error information.

Implemented in OSCAR::IKJacobian< JacobianType >, OSCAR::IKJAvoidLimits< JacobianType >, OSCAR::IKJDLS< JacobianType >, OSCAR::IKJReconfig< JacobianType >, OSCAR::IKJacobian< >, OSCAR::IKJacobian< FKJacobian >, and OSCAR::IKJReconfig< >.

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

Assignment Operator.

This is the Assignment Operator for an object of type IKVelocity.

Parameters:
rhs A IKVelocity 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