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OSCAR::PCADistToForceD1 Class Reference
[ObstacleAvoidance]

PCADistToForceD1 is derived from PCADistToForce. More...

#include <PCADistToForceD1.hpp>

Inheritance diagram for OSCAR::PCADistToForceD1:

Inheritance graph
[legend]
List of all members.

Public Methods

 PCADistToForceD1 (WorkCell &workCell, const ArtificialPotentialF &func, Node *manipulator)
 PCADistToForceD1 (const PCADistToForceD1 &crit)
PCADistToForceD1 & operator= (const PCADistToForceD1 &crit)
virtual ~PCADistToForceD1 ()
const MatrixRepository * GetForceD1Repository () const

Protected Methods

bool update (RepositoryList &repoList)

Protected Attributes

MatrixRepository * forcesD1

Detailed Description

Author:
Ethan Swint

Constructor & Destructor Documentation

OSCAR::PCADistToForceD1::PCADistToForceD1 (  WorkCell &    workCell,
const ArtificialPotentialF &    func,
Node *    manipulator
) 
 

Constructor for PCADistToForceD1 This constructor creates an object PCADistToForceD1 that contains the computational ability to compute DistToForceD1 based criteria. DH parameters and other data such as the tool point set in the DistToForceD1 object.

Parameters:
workCell The WorkCell object to use in computations
func 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::PCADistToForceD1::PCADistToForceD1 (  const PCADistToForceD1 &    crit ) 
 

Copy Constructor for PCADistToForceD1 Use this to create a PCADistToForceD1 object whose defaults are set via the constructor argument. Note: the pointer to the DistToForceD1 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 PCADistToForceD1 object that is used to create the new object

virtual OSCAR::PCADistToForceD1::~PCADistToForceD1 (    )  [virtual]
 

Destructor for PCADistToForceD1.

Member Function Documentation

const MatrixRepository* OSCAR::PCADistToForceD1::GetForceD1Repository (    )  const [inline]
 

PCADistToForceD1& OSCAR::PCADistToForceD1::operator= (  const PCADistToForceD1 &    crit ) 
 

Copy operator for PCADistToForceD1 Use this to copy one PCADistToForceD1 object into another. Note: the pointer to the DistToForceD1 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 PCADistToForceD1 object that is copied into the calling object.

bool OSCAR::PCADistToForceD1::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::PCADistToForce.

Reimplemented in OSCAR::PCADistToEEWrenchD1, and OSCAR::PCADistToTorqueD1.

Member Data Documentation

MatrixRepository* OSCAR::PCADistToForceD1::forcesD1 [protected]
 

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