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OSCAR::Kinematics Class Reference
[ForwardKinematics]

#include <Kinematics.h>

Inheritance diagram for OSCAR::Kinematics:

[legend]List of all members.


Public Types
enum	ReferenceFrame { Local, Global }
Public Methods
	Kinematics (const String &dhParamFileName, OSCARError &err=DUMMY_ERROR(noError), const String &name=String(""))
	Kinematics (const DHData &dhParams, OSCARError &err=DUMMY_ERROR(noError), const String &name=String(""))
	Kinematics (unsigned int DOF, OSCARError &err=DUMMY_ERROR(noError), const String &name=String(""))
	Kinematics (const Kinematics &kin)
Kinematics &	operator= (const Kinematics &kin)
unsigned int	GetDOF () const
virtual void	SetTool (const Vector3D &toolPointVector)
virtual void	SetTool (const Xform &toolPose)
virtual void	SetBase (const Vector3D &location)
virtual void	SetBase (const Xform &pose)
virtual bool	IsToolSet () const
virtual bool	IsBaseSet () const
virtual bool	GetTool (Vector3D &toolPoint) const
virtual bool	GetTool (Xform &toolPose) const
virtual bool	GetBase (Vector3D &location) const
virtual bool	GetBase (Xform &pose) const
const DHData *	GetDHParameters () const
virtual	~Kinematics ()
Protected Attributes
unsigned int	DOF
bool	toolFlag
bool	baseFlag
Xform	toolPose
Xform	basePose
DHData *	dhParameters

Detailed Description

This class is used to provide the base functionality and interface for all OSCAR classes that have a kinematics components. This includes functionality to set the base position and orientation of the robot, the tool position and orientation of the robot, etc.

Member Enumeration Documentation

enum OSCAR::Kinematics::ReferenceFrame

Enumeration values:

Local

Global

Constructor & Destructor Documentation

OSCAR::Kinematics::Kinematics ( const String & dhParamFileName,

OSCARError & err = DUMMY_ERROR(noError),

const String & name = String("")

)

Constructor for Kinematics.

Parameters:

dhParamFileName The String of a text file containting DH-parameters that are defined using the notation as defined by Craig, J.J.

err The OSCARError a user can passthat will contain the error status after the constructor call.

name The String designating a name that you would like to assign to the object

Returns:
This method does not return any values. Error information is returned in the 'err' argument.

Exceptions:

noError noError

FileNotFound #FileNotFound

badFileData badFileData

dhParamsIllFormed dhParamsIllFormed

OSCAR::Kinematics::Kinematics ( const DHData & dhParams,

OSCARError & err = DUMMY_ERROR(noError),

const String & name = String("")

)

Second Constructor for Kinematics.

Parameters:

dhParams An DHData file containing the DH Parameters of the system.

name The String designating a name that you would like to assign to the object

Returns:
This method does not return any values.

Exceptions:

noError noError

dhParamsIllFormed dhParamsIllFormed

OSCAR::Kinematics::Kinematics ( unsigned int DOF,

OSCARError & err = DUMMY_ERROR(noError),

const String & name = String("")

)

Third Constructor for Kinematics.
Use this to create a Kinematics object without supplying the DH parameters
Parameters:

DOF The number of degrees of freedom of the system.

err The OSCARError a user can passthat will contain the error status after the constructor call.

name The String designating a name that you would like to assign to the object

Returns:
This method does not return any values. Error information is returned in the 'err' argument.

Exceptions:

noError noError

OSCAR::Kinematics::Kinematics ( const Kinematics & kin )

Copy Constructor for Kinematics.
Use this to create an Kinematics from a different Kinematics object.
Parameters:

kin An Kinematics object that is used to create the new object.

Returns:
This method does not return any values.

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

Member Function Documentation

virtual bool OSCAR::Kinematics::GetBase ( Xform & pose ) const [virtual]

This function gets the robot base position and orientation.
Use this method to query the base position and orientation of the robot in 4X4 form.
Returns:
A bool that specifies the status of the method call. The return value is true if the base location was previously set using SetBase(..) and is false if the base location was not previously set using SetBase(...)

Parameters:

pose On return, this contains the value of the base pose. This 4X4 matrix holds the position and orientation of the robot base frame with respect to the world frame, expressed in the world frame coordinates

virtual bool OSCAR::Kinematics::GetBase ( Vector3D & location ) const [virtual]

This function gets the robot base position.
Use this method to query the base position of the robot
Returns:
A bool that specifies the status of the method call. The return value is true if the base location was previously set using SetBase(..) and is false if the base location was not previously set using SetBase(...)

Parameters:

location On return, this contains the value of the base location. This 3 long vector holds the position of the robot base frame with respect to the world frame, expressed in the world frame coordinates

const DHData* OSCAR::Kinematics::GetDHParameters ( ) const

This function returns the DH parameters associated with the object.
Use this to get access the DH Parameters of a Kinematics object. The DHData object can provide information about the DOF of the robot, the type of each joint (whether prismatic or revolute), etc.
Returns:
A const pointer to a DHData object if DHParameters were supplied during construction A NULL if no DH parameters were supplied during construction

unsigned int OSCAR::Kinematics::GetDOF ( ) const

This function returns the degrees of freedom (DOF)of the robot.
Use this to get access the DOF of the robot that are defined based on the DH Parameters that were used in the constuctor call
Returns:
The degrees of freedom of the robot. Should be >= 1

virtual bool OSCAR::Kinematics::GetTool ( Xform & toolPose ) const [virtual]

This function gets the tool point location for a given robot object.
Use this method to query the position and orientation of the tool point of the robot.
Returns:
A bool that specifies the status of the method call. The return value is true if the tool point was previously set using SetTool(..) and is false if the tool point was not previously set using SetTool(...)

Parameters:

toolPose On return, this contains the value of the tool position and orientation This 4X4 matrix holds the position and orientation of the robot tool frame with respect to the last DH frame, exressed in the last DH frame

virtual bool OSCAR::Kinematics::GetTool ( Vector3D & toolPoint ) const [virtual]

This function gets the tool point location for a given robot object.
Use this method to query the X, Y, and Z location of the tool point of the robot
Returns:
A bool that specifies the status of the method call. The return value is true if the tool point was previously set using SetTool(..) and is false if the tool point was not previously set using SetTool(...)

Parameters:

toolPoint On return, this contains the value of the tool location (X, Y, and Z coordinates). This 3 long vector holds the position of the robot tool frame with respect to the last DH frame, exressed in the last DH frame

virtual bool OSCAR::Kinematics::IsBaseSet ( ) const [virtual]

This function returns whether the base location has been set or not.
Use this method to query whether a base location has been set
Returns:
A bool that specifies the status of the method call. The return value is true if the base location has been set using SetTool(..) and is false if the base location was not previously set using SetTool(...)

virtual bool OSCAR::Kinematics::IsToolSet ( ) const [virtual]

This function returns whether the tool location has been set or not.
Use this method to query whether a tool point or tool pose has been set
Returns:
A bool that specifies the status of the method call. The return value is true if the tool point has been set using SetTool(..) and is false if the tool point was not previously set using SetTool(...)

Kinematics& OSCAR::Kinematics::operator= ( const Kinematics & kin )

Copy operator for Kinematics.
Use this to copy one Kinematics object into another.
Returns:
A reference to itself

Parameters:

kin An Kinematics object that is copied into the cbject in

virtual void OSCAR::Kinematics::SetBase ( const Xform & pose ) [virtual]

This function sets the robot base position and orientation.
Use this method to set the base position and orientation of the robot in 4X4 form
Returns:
None

Parameters:

pose A 4x4 transformation that specifies the position and orientation of the robot base frame with respect to the world frame, expressed in the world frame coordinates

Reimplemented in OSCAR::FKJacobianMitsubishi, and OSCAR::IKCCD.

virtual void OSCAR::Kinematics::SetBase ( const Vector3D & location ) [virtual]

This function sets the robot base position.
Use this method to set the base position (X, Y, and Z coordinates) of the robot
Returns:
None

Parameters:

location A 3 long vector that specifies the X, Y, and Z coordinates of the robot base frame with respect to the world frame, expressed in the world frame coordinates

Reimplemented in OSCAR::FKJacobianMitsubishi, and OSCAR::IKCCD.

virtual void OSCAR::Kinematics::SetTool ( const Xform & toolPose ) [virtual]

This function sets the tool point location for a given robot object.
Use this method to set the position and orientation of the tool point of the robot
Returns:
None

Parameters:

toolPose This contains the value of the tool position and orientation This 4X4 matrix holds the position and orientation of the robot tool frame with respect to the last DH frame, exressed in the last DH frame

Reimplemented in OSCAR::IKCCD.

virtual void OSCAR::Kinematics::SetTool ( const Vector3D & toolPointVector ) [virtual]

This function sets the tool point location for a given robot object.
Use this method to set the X, Y, and Z location of the tool point of the robot
Parameters:

toolPointVector This contains the value of the tool location (X, Y, and Z coordinates). This 3 long vector holds the position of the robot tool frame with respect to the last DH frame, exressed in the last DH frame

Reimplemented in OSCAR::IKCCD.