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OSCAR::ObAvInfo Class Reference
[ObstacleAvoidance]

Holds results of manipulator-obstacle distance calculations. More...

#include <WorkCell.hpp>

Inheritance diagram for OSCAR::ObAvInfo:

[legend]List of all members.


Public Methods
	ObAvInfo ()
	ObAvInfo (const WorkCell &cont, unsigned int armIndex=0)
virtual	~ObAvInfo ()
bool	Create (unsigned int armIndex, const WorkCell &cont)
const ObAvInfo &	operator= (const ObAvInfo &rhs)
bool	Copy (const ObAvInfo &rhs)
double	AbsMinDist (unsigned int &linkIndex, unsigned int &obstIndex) const
double	AbsMinDistD1 (unsigned int linkIndex, unsigned int obstIndex, const Vector &jointVel) const
double	AbsMinDistD2 (unsigned int linkIndex, unsigned int obstIndex, const Vector &jointVel, const Vector &jointAccel) const
double	MinLinkDist (unsigned int index, unsigned int &obstIndex) const
double	AvgDistanceRecip () const
double	AvgDistanceD1 (const Vector &jointVel) const
double	AvgDistanceD2 (const Vector &jointVel, const Vector &jointAccel) const
bool	Resize ()
Public Attributes
Tensor *	G_of_Dist
vector< Tensor * >	H_of_Dist
Matrix *	MinDist
vector< vector< Vector3 > >	RobotPts
vector< vector< Vector3 > >	ObstaclePts
vector< vector< Vector3 > >	DistHat
Matrix *	tArm
Matrix *	tObst
WorkCell::INFO_TYPE	iType
unsigned int	armIndex
unsigned int	armLngth
bool	createFlag
const WorkCell *	container
Protected Methods
void	releaseMem ()

Detailed Description

Author:: Troy Harden, Ethan Swint

ObAvInfo contain the witness points between manipulators and their surroundings, unit vectors pointing from the manipulator witness points, the magnitude of the distance between witness points, and the value of parameterization for witness points which are between endpoints. It may also contain the G and H functions for the points, depending on the information type.

Constructor & Destructor Documentation

OSCAR::ObAvInfo::ObAvInfo ( )

OSCAR::ObAvInfo::ObAvInfo ( const WorkCell & cont,

unsigned int armIndex = 0

)

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

Member Function Documentation

double OSCAR::ObAvInfo::AbsMinDist ( unsigned int & linkIndex,

unsigned int & obstIndex

) const

Returns the minimum distance from arm to obstacles This function finds the minimum distance from the arm to any obstacle and copies the relevant information into the arguments.

Parameters:

linkIndex Upon return, the index of the link closest to an obstacle

obstIndex Upon return, the index of the obstacle closest to the arm

Returns:
The magnitude of the minimum distance from the arm to a link

double OSCAR::ObAvInfo::AbsMinDistD1 ( unsigned int linkIndex,

unsigned int obstIndex,

const Vector & jointVel

) const

Returns the minimum distance from arm to obstacles, copies relevant information This function finds the minimum distance from the arm to any obstacle and copies the relevant information into the arguments.

Parameters:

linkIndex The index of the link closest to an obstacle

obstIndex The index of the obstacle closest to the arm

jointVel joint velocities stored in Vector of length DOF

Returns:
The first derivative magnitude of the minimum distance from the arm to a link

double OSCAR::ObAvInfo::AbsMinDistD2 ( unsigned int linkIndex,

unsigned int obstIndex,

const Vector & jointVel,

const Vector & jointAccel

) const

Returns the minimum distance from arm to obstacles, copies relevant information This function finds the minimum distance from the arm to any obstacle and copies the relevant information into the arguments.

Parameters:

linkIndex The index of the link closest to an obstacle

obstIndex The index of the obstacle closest to the arm

jointVel Joint velocities stored in Vector of length DOF

jointAccel Joint accelerations stored in Vector of length DOF

Returns:
The second derivative magnitude of the minimum distance from the arm to a link

double OSCAR::ObAvInfo::AvgDistanceD1 ( const Vector & jointVel ) const

Calculates the average first derivatives of the of the distances between every link-obstacle pair.

Returns:
1/(num link-obstacle pairs) * sum(link-obstacle velocity)

double OSCAR::ObAvInfo::AvgDistanceD2 ( const Vector & jointVel,

const Vector & jointAccel

) const

Calculates the average of the second derivatives of the of the distances between every link-obstacle pair.

Returns:
1/(num link-obstacle pairs) * sum(link-obstacle acceleration)

double OSCAR::ObAvInfo::AvgDistanceRecip ( ) const

Calculates the average of the reciprocals of the distances between every link-obstacle pair.

Returns:
1/(num link-obstacle pairs) * sum(1/(link-obstacle distance)

bool OSCAR::ObAvInfo::Copy ( const ObAvInfo & rhs )

bool OSCAR::ObAvInfo::Create ( unsigned int armIndex,

const WorkCell & cont

)

Create the ObAvInfo object This function is used to allocate arrays that store minimum distances, unit vectors along min dist lines, closest points on obstacles, closest points on robots, and G functions of minimum distances.

Returns:
1 if successful

Parameters:

armIndex Index of arm

cont The obstacle avoidance workspace associated with this object.

double OSCAR::ObAvInfo::MinLinkDist ( unsigned int index,

unsigned int & obstIndex

) const

Returns the minimum distance from given link to obstacles This function finds the minimum distance from the arm to any obstacle and copies the relevant information into the arguments.

Parameters:

index Index of the link

obstIndex Upon return, index of the obstacle closest to the arm

Returns:
Magnitude of the minimum distance from the arm to a link