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OSCAR::PCADistToTorqueD1 Class Reference
[ObstacleAvoidance]

Computes the first derivative of the torques due to artificial forces. This class is not currently functional. More...

#include <PCADistToTorqueD1.hpp>

Inheritance diagram for OSCAR::PCADistToTorqueD1:

Inheritance graph
[legend]
List of all members.

Public Methods

 PCADistToTorqueD1 (WorkCell &workCell, const ArtificialPotentialF &func, Node *manipulator)
 PCADistToTorqueD1 (const PCADistToTorqueD1 &crit)
PCADistToTorqueD1 & operator= (const PCADistToTorqueD1 &crit)
virtual ~PCADistToTorqueD1 ()
const VectorRepository * GetTorqueD1Repository () const

Protected Methods

bool update (RepositoryList &repoList)

Protected Attributes

Vector currentJointPositions
VectorRepository * torqueD1

Detailed Description

PCADistToTorqueD1 is derived from PCADistToTorque and PCJacobianPseudoInverse.
Author:
Ethan Swint

Todo:

Constructor & Destructor Documentation

OSCAR::PCADistToTorqueD1::PCADistToTorqueD1 (  WorkCell &    workCell,
const ArtificialPotentialF &    func,
Node *    manipulator
) 
 

Constructor for PCADistToTorqueD1 This constructor creates an object PCADistToTorqueD1 that contains the computational ability to compute DistToEEF based criteria. DH parameters and other data such as the tool point set in the DistToEEF object.

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

OSCAR::PCADistToTorqueD1::PCADistToTorqueD1 (  const PCADistToTorqueD1 &    crit ) 
 

Copy Constructor for PCADistToTorqueD1 Use this to create a PCADistToTorqueD1 object whose defaults are set via the constructor argument. Note: the pointer to the DistToEEF repository is also copied so it now points to the same repository unless a different RepositoryList is specified in computeCriteria. The DistToEEFPtr is also copied so changes to it will now affect both criteria.

Parameters:
crit A PCADistToTorqueD1 object that is used to create the new object

virtual OSCAR::PCADistToTorqueD1::~PCADistToTorqueD1 (    )  [virtual]
 

Destructor for PCADistToTorqueD1.

Member Function Documentation

const VectorRepository* OSCAR::PCADistToTorqueD1::GetTorqueD1Repository (    )  const [inline]
 

PCADistToTorqueD1& OSCAR::PCADistToTorqueD1::operator= (  const PCADistToTorqueD1 &    crit ) 
 

Copy operator for PCADistToTorqueD1 Use this to copy one PCADistToTorqueD1 object into another. Note: the pointer to the DistToEEF repository is also copied so it now points to the same repository unless a different RepositoryList is specified in computeCriteria. The DistToEEFPtr is also copied so changes to it will now affect both criteria.

Returns:
A reference to itself
Parameters:
crit A PCADistToTorqueD1 object that is copied into the calling object.

bool OSCAR::PCADistToTorqueD1::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::PCADistToForceD1.

Reimplemented in OSCAR::PCADistToEEWrenchD1.

Member Data Documentation

Vector OSCAR::PCADistToTorqueD1::currentJointPositions [protected]
 

Used to estimate joint velocity by differencing.

VectorRepository* OSCAR::PCADistToTorqueD1::torqueD1 [protected]
 

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