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OSCAR::PCADistToEEWrenchD1 Class Reference
[ObstacleAvoidance]

PCADistToEEWrenchD1 is derived from PCADistToTorque and PCJacobianPseudoInverse. This class is not currently functional and can not be instantiated. More...

#include <PCADistToEEWrenchD1.hpp>

Inheritance diagram for OSCAR::PCADistToEEWrenchD1:

Inheritance graph
[legend]
List of all members.

Public Methods

 PCADistToEEWrenchD1 (WorkCell &workCell, const ArtificialPotentialF &func, FKJacobian &fkJacobian, Node *manipulator)
 PCADistToEEWrenchD1 (const PCADistToEEWrenchD1 &crit)
PCADistToEEWrenchD1 & operator= (const PCADistToEEWrenchD1 &crit)
virtual ~PCADistToEEWrenchD1 ()
const HandPoseRepository * GetWrenchD1Repository () const

Protected Methods

bool update (RepositoryList &repoList)

Protected Attributes

HandPoseRepository * eewD1

Detailed Description

Author:
Ethan Swint

Constructor & Destructor Documentation

OSCAR::PCADistToEEWrenchD1::PCADistToEEWrenchD1 (  WorkCell &    workCell,
const ArtificialPotentialF &    func,
FKJacobian &    fkJacobian,
Node *    manipulator
) 
 

Constructor for PCADistToEEWrenchD1 This constructor creates an object PCADistToEEWrenchD1 that contains the computational ability to compute DistToEEWrenchD1 based criteria. DH parameters and other data such as the tool point set in the DistToEEWrenchD1 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
armIndex The index of the arm monitored by this criteria (defaults to 0, the first arm)

OSCAR::PCADistToEEWrenchD1::PCADistToEEWrenchD1 (  const PCADistToEEWrenchD1 &    crit ) 
 

Copy Constructor for PCADistToEEWrenchD1 Use this to create a PCADistToEEWrenchD1 object whose defaults are set via the constructor argument. Note: the pointer to the DistToEEWrenchD1 repository is also copied so it now points to the same repository unless a different RepositoryList is specified in computeCriteria. The DistToEEWrenchD1Ptr is also copied so changes to it will now affect both criteria.

Parameters:
crit A PCADistToEEWrenchD1 object that is used to create the new object

virtual OSCAR::PCADistToEEWrenchD1::~PCADistToEEWrenchD1 (    )  [virtual]
 

Destructor for PCADistToEEWrenchD1.

Member Function Documentation

const HandPoseRepository* OSCAR::PCADistToEEWrenchD1::GetWrenchD1Repository (    )  const [inline]
 

PCADistToEEWrenchD1& OSCAR::PCADistToEEWrenchD1::operator= (  const PCADistToEEWrenchD1 &    crit ) 
 

Copy operator for PCADistToEEWrenchD1 Use this to copy one PCADistToEEWrenchD1 object into another. Note: the pointer to the DistToEEWrenchD1 repository is also copied so it now points to the same repository unless a different RepositoryList is specified in computeCriteria. The DistToEEWrenchD1Ptr is also copied so changes to it will now affect both criteria.

Returns:
A reference to itself
Parameters:
crit A PCADistToEEWrenchD1 object that is copied into the calling object.

bool OSCAR::PCADistToEEWrenchD1::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::PCADistToEEWrench.

Member Data Documentation

HandPoseRepository* OSCAR::PCADistToEEWrenchD1::eewD1 [protected]
 

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