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OSCAR::PCADistToTorque Class Reference
[ObstacleAvoidance]

PCADistToTorque computes the joint torques/forces based on distances to surrounding obstacles. More...

#include <PCADistToTorque.hpp>

Inheritance diagram for OSCAR::PCADistToTorque:

Inheritance graph
[legend]
List of all members.

Public Methods

 PCADistToTorque (WorkCell &workCell, const ArtificialPotentialF &func, Node *manipulator=0)
 PCADistToTorque (const PCADistToTorque &crit)
PCADistToTorque & operator= (const PCADistToTorque &crit)
virtual ~PCADistToTorque ()
const VectorRepository * GetTorqueRepository () const

Protected Methods

bool update (RepositoryList &repoList)

Protected Attributes

VectorRepository * torque

Detailed Description

An intermediate abstract to calculate the joint torques resulting from 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. PCADistToTorque relies on the computational and storage members of PCADistToForce and extends them to calculate and store joint torques. The inheritance is virtual to allow PCADistToTorqueD1 (and other multiply derived es) to inherit computational and storage members of this and PCADistToForceD1 without duplicating member variables from PCAWorkCell.
Author:
Ethan Swint

Constructor & Destructor Documentation

OSCAR::PCADistToTorque::PCADistToTorque (  WorkCell &    workCell,
const ArtificialPotentialF &    func,
Node *    manipulator = 0
) 
 

Constructor for PCADistToTorque This constructor creates an object PCADistToTorque that contains the computational ability to compute DistToTorque based criteria. DH parameters and other data such as the tool point set in the DistToTorque 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::PCADistToTorque::PCADistToTorque (  const PCADistToTorque &    crit ) 
 

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

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

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

Destructor for PCADistToTorque.

Member Function Documentation

const VectorRepository* OSCAR::PCADistToTorque::GetTorqueRepository (    )  const [inline]
 

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

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

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

bool OSCAR::PCADistToTorque::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::PCADistToEEWrench, OSCAR::PCADistToEEWrenchD1, and OSCAR::PCADistToTorqueD1.

Member Data Documentation

VectorRepository* OSCAR::PCADistToTorque::torque [protected]
 

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