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OSCAR::PCGeneralizedStiffness Class Reference
[PerformanceCriteria]

PCGeneralizedStiffness is a criteria that evaluates the overall stiffness of a give manipulator configuration. It is done by taking the frobenius norm of the stiffness matrix. PCGeneralizedStiffness is derived from PCCompliance. More...

#include <PCGeneralizedStiffness.h>

Inheritance diagram for OSCAR::PCGeneralizedStiffness:

Inheritance graph
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List of all members.

Public Methods

 PCGeneralizedStiffness (const String &jointCompliances, FKJacobian *fkJacobian, MinOrMax minOrMax=Minimize, double criticalLimit=-1, double weight=1.0, double exponent=1.0, const String &criteriaName=String("GEN"))
 PCGeneralizedStiffness (const Matrix &jointCompliances, FKJacobian *fkJacobian, MinOrMax minOrMax=Minimize, double criticalLimit=-1, double weight=1.0, double exponent=1.0, const String &criteriaName=String("GEN"))
 PCGeneralizedStiffness (const PCGeneralizedStiffness &crit)
PCGeneralizedStiffness & operator= (const PCGeneralizedStiffness &crit)
virtual ~PCGeneralizedStiffness ()

Protected Methods

virtual bool computeCriteria (RepositoryList &repoList)

Detailed Description

Author:
Mark Tisius and Chetan Kapoor

Constructor & Destructor Documentation

OSCAR::PCGeneralizedStiffness::PCGeneralizedStiffness (  const String &    jointCompliances,
FKJacobian *    fkJacobian,
MinOrMax    minOrMax = Minimize,
double    criticalLimit = -1,
double    weight = 1.0,
double    exponent = 1.0,
const String &    criteriaName = String("GEN")
) 
 

Constructor for PCGeneralizedStiffness This constructor creates a PCGeneralizedStiffness object.

Parameters:
jointCompliances A data file containing a DOFxDOF matrix of joint stiffness values. If it is not DOFxDOF then an error will occur.
fkJacobian A pointer to a FKJacobian object that is used to calculate the jacobian.
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 "GEN"
See also:
PCGeneralizedStiffness(const Matrix& jointCompliances, FKJacobian* fkJacobian, MinOrMax minOrMax = Minimize, double criticalLimit = -1, double weight = 1.0, double exponent = 1.0, const String& criteriaName = String("GEN"))

OSCAR::PCGeneralizedStiffness::PCGeneralizedStiffness (  const Matrix &    jointCompliances,
FKJacobian *    fkJacobian,
MinOrMax    minOrMax = Minimize,
double    criticalLimit = -1,
double    weight = 1.0,
double    exponent = 1.0,
const String &    criteriaName = String("GEN")
) 
 

Constructor for PCGeneralizedStiffness This constructor creates a PCGeneralizedStiffness object.

Parameters:
jointCompliances A DOFxDOF Matrix of joint stiffness values. If it is not DOFxDOF then an error will occur.
fkJacobian A pointer to a FKJacobian object that is used to calculate the jacobian.
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 "GEN"
See also:
PCGeneralizedStiffness(const String& jointCompliances, FKJacobian* fkJacobian, MinOrMax minOrMax = Minimize, double criticalLimit = -1, double weight = 1.0, double exponent = 1.0, const String& criteriaName = String("GEN"))

OSCAR::PCGeneralizedStiffness::PCGeneralizedStiffness (  const PCGeneralizedStiffness &    crit ) 
 

Copy Constructor for PCGeneralizedStiffness Use this to create a PCGeneralizedStiffness object whose defaults are set via the constructor argument. Note: The jointCompliances, fkJacobian, and repository pointers are copied so changes to any of these objects will be seen by both criteria. A different repository will not be used to store the data unless a different RepositoryList is sent to update().

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

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

Destructor for PCGeneralizedStiffness();.

Member Function Documentation

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

Implements OSCAR::PerformanceCriteria.

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

Copy operator for PCGeneralizedStiffness Use this to copy one PCGeneralizedStiffness object into another. Note: The jointCompliances, fkJacobian, and repository pointers are copied so changes to any of these objects will be seen by both criteria. A different repository will not be used to store the data unless a different RepositoryList is sent to update().

Parameters:
crit A PCGeneralizedStiffness object that is copied into the calling object.

The documentation for this class was generated from the following file:
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