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OSCAR::PCEEWrench Class Reference
[ObstacleAvoidance]

PCEEWrench is derived from PCADistToEEWrench. More...

#include <PCEEWrench.hpp>

Inheritance diagram for OSCAR::PCEEWrench:

Inheritance graph
[legend]
List of all members.

Public Methods

 PCEEWrench (WorkCell &workCell, const ArtificialPotentialF &func, FKJacobian &fkJacobian, Node *manipulator)
 PCEEWrench (const PCEEWrench &crit)
PCEEWrench & operator= (const PCEEWrench &crit)
virtual ~PCEEWrench ()

Protected Methods

virtual bool computeCriteria (RepositoryList &repoList)

Protected Attributes

HandPose wrenchWeight

Detailed Description

Author:
Ethan Swint
Todo:

Constructor & Destructor Documentation

OSCAR::PCEEWrench::PCEEWrench (  WorkCell &    workCell,
const ArtificialPotentialF &    func,
FKJacobian &    fkJacobian,
Node *    manipulator
) 
 

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

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

OSCAR::PCEEWrench::PCEEWrench (  const PCEEWrench &    crit ) 
 

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

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

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

Destructor for PCEEWrench.

Member Function Documentation

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

Implements OSCAR::PerformanceCriteria.

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

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

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

Member Data Documentation

HandPose OSCAR::PCEEWrench::wrenchWeight [protected]
 

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