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OSCAR::PCGeneralizedTorqueMinimization Class Reference
[PerformanceCriteria]

PCGeneralizedTorqueMinimization is a criteria based upon the Inertia and JacobianPseudoInverse matrices. The infinity norms of the Inertia and JacobianPseudoInverse matrices are multiplied together to get an estimate on the necessary torque to move the manipulator from one configuration to another. PCGeneralizedTorqueMinimization is derived from PCInertia and PCJacobianPseudoInverse. More...

#include <PCGeneralizedTorqueMinimization.h>

Inheritance diagram for OSCAR::PCGeneralizedTorqueMinimization:

Inheritance graph
[legend]
List of all members.

Public Methods

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

Protected Methods

virtual bool computeCriteria (RepositoryList &repoList)

Detailed Description

Author:
Mark Tisius and Chetan Kapoor

Constructor & Destructor Documentation

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

Constructor for PCGeneralizedTorqueMinimization This constructor creates a PCGeneralizedTorqueMinimization object.

Parameters:
idObject A pointer to a IDStandAlone object which computes the inertia matrices.
fkJacobian A pointer to a FKJacobian object which computes the Jacobian matrices.
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 "GTL".

OSCAR::PCGeneralizedTorqueMinimization::PCGeneralizedTorqueMinimization (  const PCGeneralizedTorqueMinimization &    crit ) 
 

Copy Constructor for PCGeneralizedTorqueMinimization Use this to create a PCGeneralizedTorqueMinimization object whose defaults are set via the constructor argument. Note: The idLagrange, fkVelocity, fkJacobian, and 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 matrices unless a different RepositoryList is sent to update().

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

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

Destructor for PCGeneralizedTorqueMinimization();.

Member Function Documentation

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

Implements OSCAR::PerformanceCriteria.

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

Copy operator for PCGeneralizedTorqueMinimization Use this to copy one PCGeneralizedTorqueMinimization object into another. Note: The idLagrange, fkVelocity, fkJacobian, and 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 matrices unless a different RepositoryList is sent to update().

Returns:
A reference to itself
Parameters:
crit A PCGeneralizedTorqueMinimization 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