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OSCAR::ManipulatorData Class Reference
[FileData]

Reads a manipulator model from a data file or programmatically create them. More...

#include <ManipulatorData.h>

Inheritance diagram for OSCAR::ManipulatorData:

[legend]List of all members.


Public Methods
	ManipulatorData (const String &inputFileName, OSCARError &err=DUMMY_ERROR(noError), const String &rootElementName=String("Manipulator"), const String name=String(""))
	ManipulatorData (const char *xmlDataString, OSCARError &err=DUMMY_ERROR(noError), const String &rootElementName=String("Manipulator"), const String name=String(""))
	ManipulatorData (const DOMElement *manipulatorNode, OSCARError &err=DUMMY_ERROR(noError), const String &rootElementName=String("Manipulator"), const String name=String(""))
	ManipulatorData (const ManipulatorData &rhs)
virtual	~ManipulatorData ()
ManipulatorData &	operator= (const ManipulatorData &rhs)
const XMLDHData *	GetDHParameters () const
void	SetDHParameters (const XMLDHData &dhParameters)
const LimitsData *	GetLimits () const
void	SetLimits (const LimitsData &limits)
const Xform *	GetBasePose () const
void	SetBasePose (const Xform &basePose)
const Xform *	GetToolPlatePose () const
void	SetToolPlatePose (const Xform &toolPlatePose)
void	SetFramesOfInterest (const std::vector< Xform > &framesOfInterest)
const std::vector< Xform > *	GetFramesOfInterest () const
void	SetSpecifications (const SpecificationsData &specs)
const SpecificationsData *	GetSpecifications () const
void	SetConfigurationsOfInterest (const std::vector< Configuration > &configurationsOfInterest, AngleUnits angUnits=Degrees)
const std::vector< Configuration > *	GetConfigurationsOfInterest () const
AngleUnits	GetConfigurationsOfInterestAngleUnits () const
void	SetConfigurationsOfInterestAngleUnits (AngleUnits angUnits)
const Node *	GetObstacleModel () const
void	SetObstacleModel (const Node &obstacleModel)
bool	Output (std::ostream &out, bool nameSpaceHeader=false) const
Protected Methods
virtual bool	parseParameters (const DOMElement *manipulatorNode)
void	clearConfigurationsOfInterest ()
Protected Attributes
Xform	basePose
Xform	toolPlatePose
XMLDHData *	dhParameters
LimitsData *	limitsData
Node *	obstacleModel
std::vector< Xform >	framesOfInterest
std::vector< Configuration >	configurationsOfInterest
AngleUnits	configurationOfInterestAngleUnits
SpecificationsData *	specs

Detailed Description

Author:: Chetan Kapoor

Constructor & Destructor Documentation

OSCAR::ManipulatorData::ManipulatorData ( const String & inputFileName,

OSCARError & err = DUMMY_ERROR(noError),

const String & rootElementName = String("Manipulator"),

const String name = String("")

)

Constructor.
This is the constructor for an object of type ManipulatorData. Use this to construct an ManipulatorData object by supplying a datafile that contains the manipulator model of the robot. Possible errors that may occur include a fileOpenError or #dhParamsIllformed or xmlError. A call to LoadData() should follow a succesful constructor call.
Parameters:

inputFileName This is a file that contains the manipulator model specified in XML format. Example of this file for the Mitsubishi PA-7C robot is given below: <rrgOSCAR:Manipulator xmlns:rrgOSCAR="http://www.robotics.utexas.edu" xmlns:xsd="http://www.w3.org/2001/XMLSchema"> Mitsubishi Pa-10 C

Paul 0 0 0 -90 0 0 90 0 450 -90 0 0 90 0 480 -90 0 0 90 0 0 1 0 0 -5 0 1 0 12 0 0 1 10 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 5 0 0 0 1
-177 177 -94 94 -174 174 -137 137 -255 255 -165 165 -255 255
-1.4 1.4 -1.4 1.4 -2.8 2.8 -2.8 2.8 -6.2832 6.2832 -6.2832 6.2832 -6.2832 6.2832
-100 100 -100 100 -200 200 -200 200 -628.32 628.32 -628.32 628.32 -628.32 628.32 </rrgOSCAR:Manipulator>
Parameters:

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.

Exceptions:

dhParamsIllFormed dhParamsIllFormed Call GetError() for more information.

xmlError xmlError Call GetError() for more information

See also:
LoadData()

OSCAR::ManipulatorData::ManipulatorData ( const char * xmlDataString,

OSCARError & err = DUMMY_ERROR(noError),

const String & rootElementName = String("Manipulator"),

const String name = String("")

)

Constructor.
This is the constructor for an object of type ManipulatorData. Use this to construct an ManipulatorData object from a char string holding the XML description of a manipulator model. Possible errors that may occur include #dhParamsIllformed exception or xmlError. A call to LoadData() should follow a succesful constructor call.
Parameters:

xmlDataString A null terminated string of char that contains XML data. Each XML file should specify the data with the target namespace rrgOSCAR with namespace www.robotics.utexas.edu and conforming to the schemas defined for OSCAR. See www.robotics.utexas.edu for valid schemas.

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.

Exceptions:

xmlError xmlError Call GetError() for more information

See also:
XMLData(const String& inputFileName, OSCARError &err = DUMMY_ERROR(noError), const String name = String(" "))
LoadData()

Exceptions:

dhParamsIllFormed dhParamsIllFormed Call GetError() for more information.

xmlError xmlError Call GetError() for more information

See also:
LoadData()

OSCAR::ManipulatorData::ManipulatorData ( const DOMElement * manipulatorNode,

OSCARError & err = DUMMY_ERROR(noError),

const String & rootElementName = String("Manipulator"),

const String name = String("")

)

Constructor that allows xml data to be loaded from pre validated DOMElement containing a ManipulatorData node. A call to LoadData() should follow a succesful constructor call.
This is the constructor for an object of type XMLData. Use this to construct an XMLData object by supplying a valid DOMElement that contains validated and well formed data.
Parameters:

manipulatorNode A parent node that contains the data that will be parsed. It is assumed that the the target namespace is rrgOSCAR with namespace www.robotics.utexas.edu and data conforms to the schemas defined for OSCAR. See www.robotics.utexas.edu for valid schemas.

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.

Exceptions:

xmlError xmlError Call GetError() for more information

See also:
ManipulatorData(const String& inputFileName, OSCARError &err = DUMMY_ERROR(noError), const String name = String(" "))
LoadData()

OSCAR::ManipulatorData::ManipulatorData ( const ManipulatorData & rhs )

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

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

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

Destructor.
This is the Destructor for an object of type ManipulatorData.

Member Function Documentation

void OSCAR::ManipulatorData::clearConfigurationsOfInterest ( ) [protected]

const Xform* OSCAR::ManipulatorData::GetBasePose ( ) const

Returns a 4X4 transformation matrix specifying the base pose of the manipulator, expressed\ in a global world frame.

Returns:
An Xform containing the base pose

See also:
SetBasePose(const Xform& )
SetToolPlatePose(const Xform& )
GetToolPlatePose() const

const std::vector<Configuration>* OSCAR::ManipulatorData::GetConfigurationsOfInterest ( ) const

Returns a const pointer to a vector containing frames of interest for the manipulator. These are specified in the manipulator base frame.

Returns:
A const pointer to a vector containing frames of interest

See also:
SetConfigurationsOfInterest(const std::vector<Xform>& )

AngleUnits OSCAR::ManipulatorData::GetConfigurationsOfInterestAngleUnits ( ) const

const XMLDHData* OSCAR::ManipulatorData::GetDHParameters ( ) const

Returns a pointer to a XMLDHData object that holds the DH parameters of the manipulator.

Returns:
A valid XMLDHData pointer or 0 if DH parameters have not been defined

See also:
SetDHParameters(const XMLDHData& )
GetBasePose() const
SetBasePose(const Xform& )
SetToolPlatePose(const Xform& )
GetToolPlatePose() const

const std::vector<Xform>* OSCAR::ManipulatorData::GetFramesOfInterest ( ) const

Returns a const pointer to a vector containing frames of interest for the manipulator. These are specified in the manipulator base frame.

Returns:
A const pointer to a vector containing frames of interest

See also:
SetFramesOfInterest(const std::vector<Xform>& )

const LimitsData* OSCAR::ManipulatorData::GetLimits ( ) const

Returns a pointer to a LimitsData object that holds the joint limits for the manipulator.

Returns:
A valid LimitsData pointer or 0 if no limits have been defined

See also:
SetLimits(const LimitsData& )
GetBasePose() const
SetBasePose(const Xform& )
SetToolPlatePose(const Xform& )
GetToolPlatePose() const

const Node* OSCAR::ManipulatorData::GetObstacleModel ( ) const

Returns a pointer to a Node object that contains the Manipulator obstacle model.

Returns:
A valid Node pointer or 0 if no obstacle model has been defined

See also:
SetObstacleModel() const

const SpecificationsData* OSCAR::ManipulatorData::GetSpecifications ( ) const

Returns a const pointer to a SpecificationsData object.

Returns:
A const pointer to a SpecificationsData object. Null if no specifications are available

See also:
SetSpeciciations(const SpecificationsData& )

const Xform* OSCAR::ManipulatorData::GetToolPlatePose ( ) const

Returns a 4X4 transformation matrix specifying the pose of the tool plate of the manipulator as expressed in the last DH frame.

Returns:
An Xform containing the tool plate pose

See also:
SetBasePose(const Xform& )
SetToolPlatePose(const Xform& )
GetBasePose() const

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

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

rhs A ManipulatorData 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::ManipulatorData::Output ( std::ostream & out,

bool nameSpaceHeader = false

) const [virtual]

Outputs stored data Manipulator element in XML format. The root element for ManipulatorData is .

Parameters:

out A valid outputs stream to which data is outputed

nameSpaceHeader If true, the name space is appended to the root element. Normally, this should be true if you are outputting this data as a stand alone document. If you are outputting as a subset of higher level xml data, it should be false. The root node of the overall document should however output the namespace header. Default value is false.

Returns:
A true or a false. If false, call GetError() for detailed error information

Exceptions:

Implements OSCAR::XMLData.

virtual bool OSCAR::ManipulatorData::parseParameters ( const DOMElement * manipulatorNode ) [protected, virtual]

Overloaded method for parsing an element of type ManipulatorType.

Parameters:

manipulatorNode A DOMElement that points to a Manipulator element

Reimplemented from OSCAR::XMLData.

void OSCAR::ManipulatorData::SetBasePose ( const Xform & basePose )

Sets the 4X4 transformation matrix specifying the pose of the first (zeroth) DH frame of the manipulator as expressed in the global world frame.

Parameters:

basePose An Xform containing the base pose expressed in the global world frame. Units should be consistent with DH parameters units

See also:
GetBasePose() const
GetToolPlatePose() const
GetBasePose() const

void OSCAR::ManipulatorData::SetConfigurationsOfInterest ( const std::vector< Configuration > & configurationsOfInterest,

AngleUnits angUnits = Degrees

)

Sets the joint configurations that are used to specify relevant configurations for this manipulator.

Parameters:

configurationsOfInterest A vector of Configurations. This argument replaces the internally stored configurations of interest

See also:
GetConfigurationsOfInterest() const

void OSCAR::ManipulatorData::SetConfigurationsOfInterestAngleUnits ( AngleUnits angUnits )

void OSCAR::ManipulatorData::SetDHParameters ( const XMLDHData & dhParameters )

Set the DH parameters of the object by specifying an XMLDHData object This will overwrite the existing DH parameters.

See also:
GetDHParameters() const
GetBasePose() const
SetBasePose(const Xform& )
SetToolPlatePose(const Xform& )
GetToolPlatePose() const

void OSCAR::ManipulatorData::SetFramesOfInterest ( const std::vector< Xform > & framesOfInterest )

Sets the 4X4 transformation matrices that are used to specify relevant frames for this manipulator. These frames are specified in the manipulator base frame.

Parameters:

framesOfInterest A vector of Xform's. This argument replaces the internally stored frames of interest

See also:
GetFramesOfInterest() const

void OSCAR::ManipulatorData::SetLimits ( const LimitsData & limits )

Set the limits of the manipualtor by specifying a LimitsData object This method will overwrite the existing LimitsData.

See also:
GetLimits() const
GetBasePose() const
SetBasePose(const Xform& )
SetToolPlatePose(const Xform& )
GetToolPlatePose() const

void OSCAR::ManipulatorData::SetObstacleModel ( const Node & obstacleModel )

Set the obstacle model of a manipulator by specifying a Node object This method will overwrite the existing Node.

Parameters:

obstacleModel A valid Node object that contains the manipulator obstacle model

See also:
GetObstacleModel() const

void OSCAR::ManipulatorData::SetSpecifications ( const SpecificationsData & specs )

Sets the specifications of the manipulator.

Parameters:

specs A SpecificationsData object that replaces the one currently stored in this

See also:
GetSpecifications() const

void OSCAR::ManipulatorData::SetToolPlatePose ( const Xform & toolPlatePose )

Sets the 4X4 transformation matrix specifying the pose of the tool plate of the manipulator as expressed in the last DH frame.

Parameters:

toolPlatePose An Xform containing the tool plate pose expressed in the last DH frame. Units should be consistent with DH parameters units

See also:
SetBasePose(const Xform& )
GetToolPlatePose() const
GetBasePose() const