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OSCAR::PCADistToForce Class Reference
[ObstacleAvoidance]

PCADistToForce computes the joint Forces/forces based on distances to surrounding obstacles. More...

#include <PCADistToForce.hpp>

Inheritance diagram for OSCAR::PCADistToForce:

[legend]List of all members.

Public Methods
	PCADistToForce (WorkCell &workCell, const ArtificialPotentialF &function, Node *manipulator)
	PCADistToForce (const PCADistToForce &crit)
PCADistToForce &	operator= (const PCADistToForce &crit)
virtual	~PCADistToForce ()
bool	calcDistToForce ()
Protected Methods
bool	update (RepositoryList &repoList)
double	calculateCriteria (DistanceResults &results)
Protected Attributes
DistanceResultsRepository *	forces
const ArtificialPotentialF &	func

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Detailed Description

Author:

Ethan Swint An intermediate abstract to calculate the artificial forces due to surrounding obstacles. A non-abstract can be implemented by inheriting from this and defining the protected pure virtual method computeCriteria(RepositoryList& repoList), defined as abstract in PerformanceCriteria. PCADistToForce relies on the computational and storage members of PCAWorkCell and extends them to calculate and store forces acting on the links.

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Constructor & Destructor Documentation

OSCAR::PCADistToForce::PCADistToForce (  WorkCell &    workCell, const ArtificialPotentialF &    function, Node *    manipulator )

Constructor for PCADistToForce This constructor creates an object PCADistToForce that contains the computational ability to compute DistToForce based criteria. DH parameters and other data such as the tool point set in the DistToForce object. Parameters: workCell  The WorkCell object to use in computations function  A ScaleInfverseF function object to use in computations armIndex  The index of the arm monitored by this criteria (defaults to 0, the first arm)

OSCAR::PCADistToForce::PCADistToForce (  const PCADistToForce &    crit )

Copy Constructor for PCADistToForce Use this to create a PCADistToForce object whose defaults are set via the constructor argument. Note: the pointer to the DistToForce repository is also copied so it now points to the same repository unless a different RepositoryList is specified in computeCriteria. The DistToForcePtr is also copied so changes to it will now affect both criteria. Parameters: crit  A PCADistToForce object that is used to create the new object

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

Destructor for PCADistToForce.

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Member Function Documentation

bool OSCAR::PCADistToForce::calcDistToForce (    )

double OSCAR::PCADistToForce::calculateCriteria (  DistanceResults &    results )  [protected]

Reimplemented in OSCAR::PCLinkForce.

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

Copy operator for PCADistToForce Use this to copy one PCADistToForce object into another. Note: the pointer to the DistToForce repository is also copied so it now points to the same repository unless a different RepositoryList is specified in computeCriteria. The DistToForcePtr is also copied so changes to it will now affect both criteria. Returns: A reference to itself Parameters: crit  A PCADistToForce object that is copied into the calling object.

bool OSCAR::PCADistToForce::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::PCAWorkCell. Reimplemented in OSCAR::PCADistToEEWrench, OSCAR::PCADistToEEWrenchD1, OSCAR::PCADistToForceD1, OSCAR::PCADistToTorque, and OSCAR::PCADistToTorqueD1.

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Member Data Documentation

DistanceResultsRepository* OSCAR::PCADistToForce::forces [protected]

const ArtificialPotentialF& OSCAR::PCADistToForce::func [protected]

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The documentation for this class was generated from the following file:

• PCADistToForce.hpp

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