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OSCAR::PCInverseMeasureOfTransmissibility Class Reference
[PerformanceCriteria]

PCInverseMeasureOfTransmissibility is a criteria which is based on determinant of the jacobian. This criteria attempts to maximize the ease with which joint velocities are transmitted to the EEF velocities. This criteria is computationally fast and can have multiple physical meanings. Because of the dual nature of the Jacobian, transmission transmissibility or velocity transmissibility could be optimized. The determinant is also an indicator of proximity to a singularity. PCInverseMeasureOfTransmissibility is derived from PCJacobian. More...

#include <PCInverseMeasureOfTransmissibility.h>

Inheritance diagram for OSCAR::PCInverseMeasureOfTransmissibility:

Inheritance graph
[legend]
List of all members.

Public Methods

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

Protected Methods

virtual bool computeCriteria (RepositoryList &repoList)

Detailed Description

Author:
Mark Tisius and Chetan Kapoor

Constructor & Destructor Documentation

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

Constructor for PCInverseMeasureOfTransmissibility This constructor creates a PCInverseMeasureOfTransmissibility object.

Parameters:
fkJacobian A pointer to a FKJacobian object which computes the jacobians.
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 "MOT".

OSCAR::PCInverseMeasureOfTransmissibility::PCInverseMeasureOfTransmissibility (  const PCInverseMeasureOfTransmissibility &    crit ) 
 

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

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

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

Destructor for PCJacobian.

Member Function Documentation

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

Implements OSCAR::PerformanceCriteria.

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

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

Returns:
A reference to itself
Parameters:
crit A PCInverseMeasureOfTransmissibility 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