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OSCAR::PCGeneralizedVelocityMinimization Class Reference
[PerformanceCriteria]

PCGeneralizedVelocityMinimization is a criteria based upon the JacobianPseudoInverse, that aims to reduce joint velocities. It only takes the largest row sum of the pseudoinverse which is the largest transformation of a joint velocity. This criteria does not actually calculate velocities so there is no check to make sure operation velocity limits are not violated. PCGeneralizedVelocityMinimization is derived from PCJacobianPseudoInverse. More...

#include <PCGeneralizedVelocityMinimization.h>

Inheritance diagram for OSCAR::PCGeneralizedVelocityMinimization:

Inheritance graph
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List of all members.

Public Methods

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

Protected Methods

virtual bool computeCriteria (RepositoryList &repoList)

Detailed Description

Author:
Mark Tisius and Chetan Kapoor

Constructor & Destructor Documentation

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

Constructor for PCGeneralizedVelocityMinimization This constructor creates a PCGeneralizedVelocityMinimization object.

Parameters:
fkJacobian A pointer to a FKJacobian object that computes the Jacobian.
minOrMax Sets whether the criteria should be minimized or maximized. The default 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 "GVM".

OSCAR::PCGeneralizedVelocityMinimization::PCGeneralizedVelocityMinimization (  const PCGeneralizedVelocityMinimization &    crit ) 
 

Copy Constructor for PCGeneralizedVelocityMinimization Use this to create a PCGeneralizedVelocityMinimization object whose defaults are set via the constructor argument.

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

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

Destructor for PCGeneralizedVelocityMinimization();.

Member Function Documentation

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

Implements OSCAR::PerformanceCriteria.

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

Copy operator for PCGeneralizedVelocityMinimization Use this to copy one PCGeneralizedVelocityMinimization object into another.

Returns:
A reference to itself
Parameters:
crit A PCGeneralizedVelocityMinimization 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