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OSCAR::MotionParameters Class Reference
[MotionPlanning]

This class is used to store the parameters used for generating trajectories. These parameters include: total time for trajectory, sampling time, a vector of start positions, a vector of stop positions, and a filename/matrix of motion constraints. This class is passed to the OfflineMotionPlanner before calculating a trajectory. More...

#include <MotionParameter.h>

Inheritance diagram for OSCAR::MotionParameters:

[legend]List of all members.


Public Methods
	MotionParameters (unsigned int DOF, unsigned int order=1, OSCARError &err=DUMMY_ERROR(noError))
	MotionParameters (const MotionParameters &rrmp)
MotionParameters &	operator= (const MotionParameters &rrmp)
bool	SetParameters (double totalTime, double deltaTime, const VectorD &StartPos, const VectorD &EndPos, const Matrix &MaxConstraints)
bool	SetTimeParameters (double totalTime, double deltaTime)
bool	SetStartParameters (const VectorD &StartPos)
bool	SetStopParameters (const VectorD &EndPos)
bool	SetMaxConstraints (const Matrix &MaxConstraints)
bool	SetMaxConstraints (const String &ConstraintsFileName)
bool	GetParameters (double &totalTime, double &deltaTime, VectorD &StartPos, VectorD &EndPos, Matrix &MaxConstraints) const
bool	GetTimeParameters (double &totalTime, double &deltaTime) const
bool	GetStartParameters (VectorD &StartPos) const
bool	GetStopParameters (VectorD &EndPos) const
bool	GetMaxConstraints (Matrix &MaxConstraints) const
unsigned int	GetDOF ()
unsigned int	GetOrder ()
virtual	~MotionParameters ()
Private Attributes
unsigned int	nDOF
unsigned int	nOrder
double	totalTime
double	deltaTime
Vector	startingPosition
Vector	endingPosition
Matrix	maxConstraints

Detailed Description

Author:: Ratheesh Rajan & Chetan Kapoor

Constructor & Destructor Documentation

OSCAR::MotionParameters::MotionParameters ( unsigned int DOF,

unsigned int order = 1,

OSCARError & err = DUMMY_ERROR(noError)

)

Constructor.
This constructor creates a MotionParameter object to store the parameters used in generating a trajectory.
Parameters:

DOF This stores the number of variables to generate a trajectory for. For a joint level trajectory, this number will be equal to the number of joints. For a HandPose trajectory, this should be 6.

order This is the order of the desired trapezoidal motion trajectory. For example, an order of 2 will produce a trapezoidal shape at the acceleration level.

err An OSCARError object that on return will hold the value of any errors that were generated uring the constructor call. If err is not equal to 'noError' you can call GetError() to get the details of the error code.

OSCAR::MotionParameters::MotionParameters ( const MotionParameters & rrmp )

Constructor.
A copy constructor for MotionParameters.
Parameters:

rrmp An existing MotionParameters object that will be used to initialize this new object.

virtual OSCAR::MotionParameters::~MotionParameters ( ) [inline, virtual]

Member Function Documentation

unsigned int OSCAR::MotionParameters::GetDOF ( void ) [inline]

Use this method to retrieve the DOF of the motion system.

Returns:
An unsigned integer containing the DOF

See also:
bool GetParameters( double& totalTime, double& deltaTime, VectorD& StartPos, VectorD& EndPos, Matrix& MaxConstraints);

bool OSCAR::MotionParameters::GetMaxConstraints ( Matrix & MaxConstraints ) const

Use this method to retrieve the current constraints matrix.

Returns:
true if the method succeeds and false if method fails. Call GetError() to get detailed error information

Parameters:

MaxConstraints A DOFx(order+1) matrix of constraints for the trajectory.

Exceptions:

matrixSizeMismatch matrixSizeMismatch

See also:
bool GetParameters( double& totalTime, double& deltaTime, VectorD& StartPos, VectorD& EndPos, Matrix& MaxConstraints);

unsigned int OSCAR::MotionParameters::GetOrder ( ) [inline]

Use this method to retrieve the order of the motion system.

Returns:
An unsignd integer containing the order of the motion system

See also:
bool GetParameters( double& totalTime, double& deltaTime, VectorD& StartPos, VectorD& EndPos, Matrix& MaxConstraints);

bool OSCAR::MotionParameters::GetParameters ( double & totalTime,

double & deltaTime,

VectorD & StartPos,

VectorD & EndPos,

Matrix & MaxConstraints

) const

Use this method to retrieve the current motion parameters.

Returns:
true if the method succeeds and false if method fails. Call GetError() to get detailed error information

Parameters:

totalTime This it the total time for completing the trajectory.

deltaTime This is the time in between setpoints (sampling time).

StartPos A DOF-length vector containing the starting position.

EndPos A DOF-length vector containing the final position.

MaxConstraints A DOFx(order+1) matrix of constraints for the trajectory.

Exceptions:

matrixSizeMismatch matrixSizeMismatch

vectorSizeMismatch vectorSizeMismatch

See also:
bool SetParameters( double totalTime, double deltaTime, VectorD& StartPos, VectorD& EndPos, Matrix& MaxConstraints);

bool OSCAR::MotionParameters::GetStartParameters ( VectorD & StartPos ) const

Use this method to retrieve the current starting position.

Returns:
true if the method succeeds and false if method fails. Call GetError() to get detailed error information

Parameters:

StartPos A DOF-length vector containing the starting position.

Exceptions:

vectorSizeMismatch vectorSizeMismatch

See also:
bool GetParameters( double& totalTime, double& deltaTime, VectorD& StartPos, VectorD& EndPos, Matrix& MaxConstraints);

bool OSCAR::MotionParameters::GetStopParameters ( VectorD & EndPos ) const

Use this method to retrieve the current final position.

Returns:
true if the method succeeds and false if method fails. Call GetError() to get detailed error information

Parameters:

EndPos A DOF-length vector containing the final position.

Exceptions:

vectorSizeMismatch vectorSizeMismatch

See also:
bool GetParameters( double& totalTime, double& deltaTime, VectorD& StartPos, VectorD& EndPos, Matrix& MaxConstraints);

bool OSCAR::MotionParameters::GetTimeParameters ( double & totalTime,

double & deltaTime

) const

Use this method to retrieve the current time parameters.

Returns:
true if the method succeeds and false if method fails. Call GetError() to get detailed error information

Parameters:

totalTime This it the total time for completing the trajectory.

deltaTime This is the time in between setpoints (sampling time).

See also:
bool GetParameters( double& totalTime, double& deltaTime, VectorD& StartPos, VectorD& EndPos, Matrix& MaxConstraints);

MotionParameters& OSCAR::MotionParameters::operator= ( const MotionParameters & rrmp )

= operator. Used for copying objects of type MotionParameters

Returns:
A reference to the object on the left hand side of the = operator

Parameters:

rrmp An MotionParameters object that goes on the right hand side of the = operator

bool OSCAR::MotionParameters::SetMaxConstraints ( const String & ConstraintsFileName )

Use this method to set all the constraints matrix for the motion trajectory.

Returns:
true if the method succeeds and false if method fails. Call GetError() to get detailed error information

Parameters:

ConstraintsFileName The name of a file containing a DOFx(order+1) matrix of constraints for the trajectory. The first column holds the maximum joint velocities and the second column holds the maximum joint accelerations. Currently, only 1st order (2-column matrix) constraints are implemented in RRMotionPlanner.

Exceptions:

constraintsError constraintsError

See also:
bool SetParameters( double totalTime, double deltaTime, VectorD& StartPos, VectorD& EndPos, Matrix& MaxConstraints);

bool OSCAR::MotionParameters::SetMaxConstraints ( const Matrix & MaxConstraints )

Use this method to set all the constraints matrix for the motion trajectory.

Returns:
true if the method succeeds and false if method fails. Call GetError() to get detailed error information

Parameters:

MaxConstraints A DOFx(order+1) matrix of constraints for the trajectory. The first column holds the maximum joint velocities and the second column holds the maximum joint accelerations, etc...

Exceptions:

matrixSizeMismatch matrixSizeMismatch

See also:
bool SetParameters( double totalTime, double deltaTime, VectorD& StartPos, VectorD& EndPos, Matrix& MaxConstraints);

bool OSCAR::MotionParameters::SetParameters ( double totalTime,

double deltaTime,

const VectorD & StartPos,

const VectorD & EndPos,

const Matrix & MaxConstraints

)

Use this method to set all the motion parameters to use when generating a trajectory.

Returns:
true if the method succeeds and false if method fails. Call GetError() to get detailed error information

Parameters:

totalTime This it the total time for completing the trajectory.

deltaTime This is the time in between setpoints (sampling time).

StartPos A DOF-length vector containing the starting position.

EndPos A DOF-length vector containing the final position.

MaxConstraints A DOFx(order+1) matrix of constraints for the trajectory. The first column holds the maximum joint velocities and the second column holds the maximum joint accelerations. Currently, only 1st order (2-column matrix) constraints are implemented.

Exceptions:

matrixSizeMismatch matrixSizeMismatch

vectorSizeMismatch vectorSizeMismatch

See also:
bool GetParameters( double& totalTime, double& totalTime, VectorD& StartPos, VectorD& EndPos, Matrix& MaxConstraints);

bool OSCAR::MotionParameters::SetStartParameters ( const VectorD & StartPos )

Use this method to set the starting position for the motion trajectory.

Returns:
true if the method succeeds and false if method fails. Call GetError() to get detailed error information

Parameters:

StartPos A DOF-length vector containing the starting position.

Exceptions:

vectorSizeMismatch vectorSizeMismatch

See also:
bool SetParameters( double totalTime, double deltaTime, VectorD& StartPos, VectorD& EndPos, Matrix& MaxConstraints);

bool OSCAR::MotionParameters::SetStopParameters ( const VectorD & EndPos )

Use this method to set all the final position for the motion trajectory.

Returns:
true if the method succeeds and false if method fails. Call GetError() to get detailed error information

Parameters:

EndPos A DOF-length vector containing the final position.

Exceptions:

vectorSizeMismatch vectorSizeMismatch

See also:
bool SetParameters( double totalTime, double deltaTime, VectorD& StartPos, VectorD& EndPos, Matrix& MaxConstraints);

bool OSCAR::MotionParameters::SetTimeParameters ( double totalTime,

double deltaTime

)

Use this method to set all the timen parameters to use when generating a trajectory.

Returns:
true if the method succeeds and false if method fails.

Parameters:

totalTime This it the total time for completing the trajectory.

deltaTime This is the time in between setpoints (sampling time).

See also:
bool SetParameters( double totalTime, double deltaTime, VectorD& StartPos, VectorD& EndPos, Matrix& MaxConstraints);