Main Page Modules Namespace List Class Hierarchy Alphabetical List Compound List File List Namespace Members Compound Members File Members Related Pages

OSCAR::MotionPlanner Class Reference

#include <MotionPlan.h>

Inheritance diagram for OSCAR::MotionPlanner:

[legend]List of all members.


Public Methods
	MotionPlanner (unsigned int DOF, unsigned int order, OSCARError &err=DUMMY_ERROR(noError))
	MotionPlanner (const MotionPlanner &rhs)
MotionPlanner &	operator= (const MotionPlanner &rhs)
bool	SetParameters (MotionParameters &Mpar)
virtual	~MotionPlanner ()
Protected Methods
bool	calculate ()
bool	calculateForOrder1 ()
bool	calculateForOrder (unsigned int)
void	calculateThetaIJ (void)
void	calculateBP (double, int)
double	factorial (double)
double	getTrapValue (double, int, int)
Protected Attributes
MotionParameters	motionParameters
Matrix	breakPoints
Matrix	maxValues
Matrix	peakValues
Tensor	thetaTensor
Vector	conditionVec
Matrix	coeffMatrix
Vector	tempVec

Constructor & Destructor Documentation

OSCAR::MotionPlanner::MotionPlanner ( unsigned int DOF,

unsigned int order,

OSCARError & err = DUMMY_ERROR(noError)

)

Constructor.
This constructor creates a MotionPlan object.
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 during the constructor call. If err is not equal to 'noError' you can call GetError() to get the details of the error code.

OSCAR::MotionPlanner::MotionPlanner ( const MotionPlanner & rhs )

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

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

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

Member Function Documentation

bool OSCAR::MotionPlanner::calculate ( ) [protected]

void OSCAR::MotionPlanner::calculateBP ( double ,

int

) [protected]

bool OSCAR::MotionPlanner::calculateForOrder ( unsigned int ) [protected]

bool OSCAR::MotionPlanner::calculateForOrder1 ( ) [protected]

void OSCAR::MotionPlanner::calculateThetaIJ ( void ) [protected]

double OSCAR::MotionPlanner::factorial ( double ) [protected]

double OSCAR::MotionPlanner::getTrapValue ( double ,

int ,

int

) [protected]

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

Assignment operator.
This is the Assignment operator for an object of type MotionPlanner. This operator assumes that the order and DOF of the two planners are the same.
Parameters:

rhs An MotionPlanner 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::MotionPlanner::SetParameters ( MotionParameters & Mpar )

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:

Mpar An RRMotionParameters object containing all the necessary motion parameters.

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

Reimplemented in OSCAR::OfflineMotionPlanner.