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OSCAR::PCADistToEEWrench Class Reference
[ObstacleAvoidance]

PCADistToEEWrench is derived from PCADistToTorque and PCJacobianPseudoInverse. More...

#include <PCADistToEEWrench.hpp>

Inheritance diagram for OSCAR::PCADistToEEWrench:

Inheritance graph
[legend]
List of all members.

Public Methods

 PCADistToEEWrench (WorkCell &workCell, const ArtificialPotentialF &func, FKJacobian &fkJacobian, Node *manipulator)
 PCADistToEEWrench (const PCADistToEEWrench &crit)
PCADistToEEWrench & operator= (const PCADistToEEWrench &crit)
virtual ~PCADistToEEWrench ()
const HandPoseRepository * GetWrenchRepository () const

Protected Methods

bool update (RepositoryList &repoList)

Protected Attributes

HandPoseRepository * eew

Detailed Description

Author:
Ethan Swint

Constructor & Destructor Documentation

OSCAR::PCADistToEEWrench::PCADistToEEWrench (  WorkCell &    workCell,
const ArtificialPotentialF &    func,
FKJacobian &    fkJacobian,
Node *    manipulator
) 
 

Constructor for PCADistToEEWrench This constructor creates an object PCADistToEEWrench that contains the computational ability to compute DistToEEWrench based criteria. DH parameters and other data such as the tool point set in the DistToEEWrench object.

Parameters:
workCell The WorkCell object to use in computations
func A ScaleInfverseF function object to use in computations
fkJacobian The FKJacobian for the specified arm in the workCell
manipulator A pointer to the manipulator which the criteria will be created for.

OSCAR::PCADistToEEWrench::PCADistToEEWrench (  const PCADistToEEWrench &    crit ) 
 

Copy Constructor for PCADistToEEWrench Use this to create a PCADistToEEWrench object whose defaults are set via the constructor argument. Note: the pointer to the DistToEEWrench repository is also copied so it now points to the same repository unless a different RepositoryList is specified in computeCriteria. The DistToEEWrenchPtr is also copied so changes to it will now affect both criteria.

Parameters:
crit A PCADistToEEWrench object that is used to create the new object

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

Destructor for PCADistToEEWrench.

Member Function Documentation

const HandPoseRepository* OSCAR::PCADistToEEWrench::GetWrenchRepository (    )  const [inline]
 

PCADistToEEWrench& OSCAR::PCADistToEEWrench::operator= (  const PCADistToEEWrench &    crit ) 
 

Copy operator for PCADistToEEWrench Use this to copy one PCADistToEEWrench object into another. Note: the pointer to the DistToEEWrench repository is also copied so it now points to the same repository unless a different RepositoryList is specified in computeCriteria. The DistToEEWrenchPtr is also copied so changes to it will now affect both criteria.

Returns:
A reference to itself
Parameters:
crit A PCADistToEEWrench object that is copied into the calling object.

bool OSCAR::PCADistToEEWrench::update (  RepositoryList &    repoList )  [protected]
 

Performs minimum distance calculations for joint option in repoList.

Parameters:
repoList RepositoryList object which contains the joint vector to calculate the witness points. repoList is only used if the ObAvInfoRepository has not been initialized.

Reimplemented from OSCAR::PCADistToTorque.

Reimplemented in OSCAR::PCADistToEEWrenchD1.

Member Data Documentation

HandPoseRepository* OSCAR::PCADistToEEWrench::eew [protected]
 

The documentation for this class was generated from the following file:
RRG Homepage OSCAR Overview OSCAR Tutorials Simulations