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OSCAR::Limits Class Reference
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A Limits object is used to store binary limits data for robot joints. These include min and max. These limits are generally used for Position, Velocity, Current, Acceleration and Torque. In additon to limits, the Limits object can also contain the excess error associated with a joint. These excess errors can be specified for all different limits type. Generally, they are specified for position and current. More...

#include <Limits.h>

Inheritance diagram for OSCAR::Limits:

[legend]List of all members.


Public Methods
	Limits (const Matrix &limitsData, OSCARError &err=DUMMY_ERROR(noError), const String &name=String(""))
	Limits (const Vector &minLimits, const Vector &maxLimits, OSCARError &err=DUMMY_ERROR(noError), const String &name=String(""))
	Limits (const std::vector< Limit > &limitsData, OSCARError &err=DUMMY_ERROR(noError), const String &name=String(""))
	Limits (const Limits &rhs)
virtual	~Limits ()
Limits &	operator= (const Limits &rhs)
bool	SetLimits (const Matrix &limitsData)
bool	SetExcessError (const Vector &excessErrorData)
bool	GetLimits (Matrix &limitsData) const
bool	GetExcessError (Vector &excessErrorData) const
bool	SetLimits (const Vector &minLimits, const Vector &maxLimits)
bool	GetLimits (Vector &minLimits, Vector &maxLimits) const
bool	SetLimits (const std::vector< Limit > &limitsData)
bool	GetLimits (std::vector< Limit > &limitsData) const
bool	GetLimit (unsigned int jointNo, Limit &limitsData) const
Limit	GetLimit (unsigned int jointNo) const
unsigned int	GetSize () const
Protected Attributes
std::vector< Limit > *	limits

Detailed Description

Author:: Chetan Kapoor

Constructor & Destructor Documentation

OSCAR::Limits::Limits ( const Matrix & limitsData,

OSCARError & err = DUMMY_ERROR(noError),

const String & name = String("")

)

Creates an Limits object and initializes the limits using data specified in a Matrix of size DOF.

Parameters:

limitsData A Matrix of size DOF X 2. Column 1 should contain the min limit and column 2 should contain max limit

err A reference to an object of type OSCARError. The default OSCARError object holds values that imply a "No Error" state. This is an error code that is returned.

name An String that specifies the Name of the object being created. matrixSizeMismatch

OSCAR::Limits::Limits ( const Vector & minLimits,

const Vector & maxLimits,

OSCARError & err = DUMMY_ERROR(noError),

const String & name = String("")

)

Creates an Limits object and initializes the limits using data specified in a Matrix of size DOF.

Parameters:

minLimits A Vector of size DOF containing the min limits.

maxLimits A Vector of size DOF containing the max limits.

err A reference to an object of type OSCARError. The default OSCARError object holds values that imply a "No Error" state. This is an error code that is returned.

name An String that specifies the Name of the object being created. vectorSizeMismatch

OSCAR::Limits::Limits ( const std::vector< Limit > & limitsData,

OSCARError & err = DUMMY_ERROR(noError),

const String & name = String("")

)

Creates an Limits object and initializes the limits using data specified in a Matrix of size DOF.

Parameters:

limitsData An stl vector of size DOF, whose each element contains an object of type Limit. Limit object contains public members min, max, and isLimitSet, excessError and isExcessErrorSet.

err A reference to an object of type OSCARError. The default OSCARError object holds values that imply a "No Error" state. This is an error code that is returned.

name An String that specifies the Name of the object being created.

OSCAR::Limits::Limits ( const Limits & rhs )

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

rhs An Limits object that will be used to initialize this new object.

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

Destructor.

Member Function Documentation

bool OSCAR::Limits::GetExcessError ( Vector & excessErrorData ) const

Query the excess error for each joint of the robot.

Parameters:

excessErrorData A Vector of size DOF, which on return contains the excess errors If excess error for a particuls joint are not specified, then the element for that joint (joints starting at 0) are set to 0.0

Returns:
true or false. If false, call GetError() vectorSizeMismatch

Limit OSCAR::Limits::GetLimit ( unsigned int jointNo ) const

Query the limit for a particular joint.

Parameters:

jointNo Number of the joint for which the limit information is desired. jointNo's start from 0. If this index is outOfRange, an empty Limit object is returned with isLimitSet and isExcessErrorSet = false and outOfRange error set

Returns:
A Limit object that contains the limits for the desired joint. If true or false. If false, call GetError() outOfRange

bool OSCAR::Limits::GetLimit ( unsigned int jointNo,

Limit & limitsData

) const

Query the limit for a particular joint.

Parameters:

jointNo Number of the joint for which the limit information is desired. jointNo's start from 0. If this index is outOfRange, an empty Limit object is returned with isLimitSet and isExcessErrorSet = false and outOfRange error set

limit A limit object that on return contains limit data for a specified joint number

Returns:
true or false. If false, call GetError() outOfRange

bool OSCAR::Limits::GetLimits ( std::vector< Limit > & limitsData ) const

Query limits by passing in and stl vector of Limit objects.

Parameters:

limitsData An stl vector of size DOF, whose each element contains an object of type Limit. Limit object contains public members min, max, isLimitSet, excessError and isExcessErrorSet.

Returns:
true or false. If false, call GetError()

bool OSCAR::Limits::GetLimits ( Vector & minLimits,

Vector & maxLimits

) const

Query the limits in Vector format.

Parameters:

minLimits A Vector of size DOF containing the min limits.

maxLimits A Vector of size DOF containing the max limits.

Returns:
true or false. If false, call GetError() vectorSizeMismatch

bool OSCAR::Limits::GetLimits ( Matrix & limitsData ) const

Query the limits in a Matrix format.

Parameters:

limitsData A Matrix of size DOF X 2, where column 1 is min limits and column 2 is max limits. If limits for a particuls joint are not specified, then the row for that joint (joints starting at 0) are set to 0.0 and 0.0

Returns:
true or false. If false, call GetError() matrixSizeMismatch

unsigned int OSCAR::Limits::GetSize ( ) const

Query the size of the limits, i.e., total number of joints for which the limits are specified.

Returns:
Length of the limits outOfRange

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

Assignment Operator.
This is the Assignment Operator for an object of type Limits.
Parameters:

rhs A Limits 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

bool OSCAR::Limits::SetExcessError ( const Vector & excessErrorData )

Set excess error by passing in a Vector of length DOF. Call to this method will overwrite the stored excess error values.

Parameters:

excessErrorData A Vector of size DOF, where element 0 contains excess error value for joint 1, element 1 for joint 2, and so on.

Returns:
true or false. If false, call GetError() vectorSizeMismatch

bool OSCAR::Limits::SetLimits ( const std::vector< Limit > & limitsData )

SetLimits by passing in and stl vector of Limit objects. Call to this method will overwrite the stored limits.

Parameters:

limitsData An stl vector of size DOF, whose each element contains an object of type Limit. Limit object contains public members min, max, isLimitSet, excessError and isExcessErrorSet.

Returns:
true or false. If false, call GetError()

bool OSCAR::Limits::SetLimits ( const Vector & minLimits,

const Vector & maxLimits

)

SetLimits by passing in two Vectors. Call to this method will overwrite the stored limits.

Parameters:

minLimits A Vector of size DOF containing the min limits.

maxLimits A Vector of size DOF containing the max limits.

Returns:
true or false. If false, call GetError() vectorSizeMismatch

bool OSCAR::Limits::SetLimits ( const Matrix & limitsData )

SetLimits by passing in a Matrix. Call to this method will overwrite the stored limits.

Parameters:

limitsData A Matrix of size DOF X 2, where column 1 is min limits and column 2 is max limits.

Returns:
true or false. If false, call GetError() matrixSizeMismatch

Member Data Documentation

std::vector<Limit>* OSCAR::Limits::limits [protected]

The documentation for this class was generated from the following file:

Limits.h

OSCAR::Limits Class Reference [FileData]

Public Methods

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

OSCAR::Limits Class Reference
[FileData]