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OSCAR::PCGeneralizedDynamicEfficiency Class Reference
[PerformanceCriteria]

PCGeneralizedDynamicEfficiency is a criteria based upon the ratio of the largest inertial eigenvalue and the largest jacobian eigenvalue. The purpose of this criterion is to minimize joint torques in terms of inertial loading. PCGeneralizedDynamicEfficiency is derived from PCInertiaEigenValues and PCJacobianEigenValues. More...

#include <PCGeneralizedDynamicEfficiency.h>

Inheritance diagram for OSCAR::PCGeneralizedDynamicEfficiency:

Inheritance graph
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List of all members.

Public Methods

 PCGeneralizedDynamicEfficiency (IDStandAlone *idObject, FKJacobian *fkJacobian, MinOrMax minOrMax=Minimize, double criticalLimit=-1, double weight=1.0, double exponent=1.0, const String &criteriaName=String("DYN"))
 PCGeneralizedDynamicEfficiency (const PCGeneralizedDynamicEfficiency &crit)
PCGeneralizedDynamicEfficiency & operator= (const PCGeneralizedDynamicEfficiency &crit)
virtual ~PCGeneralizedDynamicEfficiency ()

Protected Methods

virtual bool computeCriteria (RepositoryList &repoList)

Detailed Description

Author:
Mark Tisius and Chetan Kapoor

Constructor & Destructor Documentation

OSCAR::PCGeneralizedDynamicEfficiency::PCGeneralizedDynamicEfficiency (  IDStandAlone *    idObject,
FKJacobian *    fkJacobian,
MinOrMax    minOrMax = Minimize,
double    criticalLimit = -1,
double    weight = 1.0,
double    exponent = 1.0,
const String &    criteriaName = String("DYN")
) 
 

Constructor for PCGeneralizedDynamicEfficiency This constructor creates a PCGeneralizedDynamicEfficiency object.

Parameters:
idObject A pointer to a IDStandAlone object which computes the inertia matrices.
fkJacobian A pointer to a FKJacobian object which computes the Jacobians.
minOrMax Sets whether the criteria should be minimized or maximized. The default for vector limits criteria is MINIMIZE
criticalLimit The criticalLimit for the criteria which will be used to check validity and to normalize.
weight The weight of the criteria. The default is 1.0.
exponent The exponent of the criteria. The default is 1.0.
criteriaName The name of the criteria. The default is "DYN".

OSCAR::PCGeneralizedDynamicEfficiency::PCGeneralizedDynamicEfficiency (  const PCGeneralizedDynamicEfficiency &    crit ) 
 

Copy Constructor for PCGeneralizedDynamicEfficiency Use this to create a PCGeneralizedDynamicEfficiency object whose defaults are set via the constructor argument. Note: The idLagrange, fkVelocity, fkJacobian, and eigenvalues repository pointers are copied so changes to them will be seen by both criteria. Different repositories will not be used to store the inertia and jacobian eigenvalues unless a different RepositoryList is sent to update().

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

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

Destructor for PCGeneralizedDynamicEfficiency();.

Member Function Documentation

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

Implements OSCAR::PerformanceCriteria.

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

Copy operator for PCGeneralizedDynamicEfficiency Use this to copy one PCGeneralizedDynamicEfficiency object into another. Note: The idLagrange, fkVelocity, fkJacobian, and eigenvalues repository pointers are copied so changes to them will be seen by both criteria. Different repositories will not be used to store the inertia and jacobian eigenvalues unless a different RepositoryList is sent to update().

Returns:
A reference to itself
Parameters:
crit A PCGeneralizedDynamicEfficiency 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