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OSCAR::PCAWorkCell Class Reference
[ObstacleAvoidance]

PCAWorkCell uses a WorkCell to compute and store the obstacle avoidance information (see DistanceResults). More...

#include <PCAWorkCell.hpp>

Inheritance diagram for OSCAR::PCAWorkCell:

[legend]List of all members.


Public Methods
	PCAWorkCell (WorkCell &workCell, Node manipulator=0, const std::set< const ModelingObject > &ignoreSet=std::set< const ModelingObject * >())
	PCAWorkCell (const PCAWorkCell &crit)
PCAWorkCell &	operator= (const PCAWorkCell &crit)
virtual	~PCAWorkCell ()
bool	SetIgnoreSet (std::set< const ModelingObject * > &ignoreSet)
const std::set< const ModelingObject * > &	GetIgnoreSet () const
const DistanceResultsRepository *	GetInfoRepository () const
Protected Methods
bool	populatePrimLists ()
bool	populateArmList (Node *node)
bool	populateEnviList (Node *node)
bool	update (RepositoryList &repoList)
bool	calculateCriteria (const Primitive p0, const Primitive p1, DistanceResults &results)
Protected Attributes
Node *	arm
DistanceResultsRepository *	info
WorkCell *	workCell
DistanceCalculator	calc
std::set< const ModelingObject * >	ignore
std::list< Primitive * >	armPrimitives
std::list< Primitive * >	enviPrimitives

Detailed Description

An abstract intermediate derived from PerformanceCriteria. Non-abstract es can use the functionality of PCAWorkCell by public (or public virtual for multiple) inheritance and defining the protected pure virtual method computeCriteria(RepositoryList& repoList), defined as abstract in PerformanceCriteria.. Derived es update the necessary repositories by calling the protected method update().

Author:: Ethan Swint

Constructor & Destructor Documentation

OSCAR::PCAWorkCell::PCAWorkCell ( WorkCell & workCell,

Node * manipulator = 0,

const std::set< const ModelingObject * > & ignoreSet = std::set< const ModelingObject * >()

)

Constructor for PCAWorkCell This constructor creates an object PCAWorkCell that contains the computational ability to compute distance-based criteria.

Parameters:

WorkCell A pointer to the WorkCell object that performs minimum distance computations.

armIndex Index of the arm in the work cell

OSCAR::PCAWorkCell::PCAWorkCell ( const PCAWorkCell & crit )

Copy Constructor for PCAWorkCell Creates a PCAWorkCell object whose defaults are set via the constructor argument. Note: the pointer to the WorkCell repository is also copied so it now points to the same repository unless a different RepositoryList is specified in computeCriteria. The WorkCellPtr is also copied so changes to it will now affect both criteria.

Parameters:

crit A PCAWorkCell object that is used to create the new object

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

Destructor for PCAWorkCell.

Member Function Documentation

bool OSCAR::PCAWorkCell::calculateCriteria ( const Primitive * p0,

const Primitive * p1,

DistanceResults & results

) [protected]

const std::set<const ModelingObject*>& OSCAR::PCAWorkCell::GetIgnoreSet ( ) const

Returns the ignore set currently being used to calculate critiera (what primitives/nodes will be ignored).

Returns:
set<const ModelingObject*> The current ignore set.

const DistanceResultsRepository* OSCAR::PCAWorkCell::GetInfoRepository ( ) const [inline]

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

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

Returns:
A reference to itself

Parameters:

crit A PCAWorkCell object that is copied into the calling object.

bool OSCAR::PCAWorkCell::populateArmList ( Node * node ) [protected]

bool OSCAR::PCAWorkCell::populateEnviList ( Node * node ) [protected]

bool OSCAR::PCAWorkCell::populatePrimLists ( ) [protected]

bool OSCAR::PCAWorkCell::SetIgnoreSet ( std::set< const ModelingObject * > & ignoreSet )

Updates the ignore set used for calculating criteria. Will automatically call the UpdateModel upon completion.

Parameters:

set<const ModelingObject*> ignoreSet The new ignore set to be used.

Returns:
True upon completion

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