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OSCAR::PCAverageDistReciprocal Class Reference
[ObstacleAvoidance]

PCAverageDistReciprocal calculates the average of the reciprocal of the minimum distance from the robot arm to obstacles. More...

#include <PCAverageDistReciprocal.hpp>

Inheritance diagram for OSCAR::PCAverageDistReciprocal:

Inheritance graph
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List of all members.

Public Methods

 PCAverageDistReciprocal (WorkCell &workCell, Node *arm=0)
 PCAverageDistReciprocal (const PCAverageDistReciprocal &crit)
PCAverageDistReciprocal & operator= (const PCAverageDistReciprocal &crit)
virtual ~PCAverageDistReciprocal ()

Protected Methods

bool computeCriteria (RepositoryList &repoList)
double calculateCriteria (DistanceResults &results)

Detailed Description

PCAverageDistReciprocal computes the average of the reciprocal of the minimum distance from a robot arm to obstacles in the work cell ( value = 1/(num links * num obstacles) * SUM(1/link-obstacle distance) ).
Author:
Ethan Swint

Constructor & Destructor Documentation

OSCAR::PCAverageDistReciprocal::PCAverageDistReciprocal (  WorkCell &    workCell,
Node *    arm = 0
) 
 

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

Parameters:
DistRecip A pointer to the DistRecip object that calculates the DistRecip.

OSCAR::PCAverageDistReciprocal::PCAverageDistReciprocal (  const PCAverageDistReciprocal &    crit ) 
 

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

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

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

Destructor for PCAverageDistReciprocal.

Member Function Documentation

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

bool OSCAR::PCAverageDistReciprocal::computeCriteria (  RepositoryList &    repoList )  [protected, virtual]
 

Implements OSCAR::PerformanceCriteria.

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

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

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

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