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OSCAR::PCJacobian Class Reference
[PerformanceCriteria]

PCJacobian is an abstract class for criteria which are based on the jacobian. PCJacobian is derived from PerformanceCriteria. It is an intermediate abstract class that contains the functionality to compute jacobians. Derived classes update the necessary repositories by calling the protected method update(). More...

#include <PCJacobian.h>

Inheritance diagram for OSCAR::PCJacobian:

Inheritance graph
[legend]
List of all members.

Public Methods

 PCJacobian (FKJacobian *fkJacobian)
 PCJacobian (const PCJacobian &crit)
PCJacobian & operator= (const PCJacobian &crit)
virtual ~PCJacobian ()

Protected Methods

bool update (RepositoryList &repoList)

Protected Attributes

MatrixRepository * jacobianPtr
FKJacobian * fkJacobian

Detailed Description

Author:
Mark Tisius and Chetan Kapoor

Todo:
Jacobian criteria need to handle a downsized Jacobian for when DOF's become inactive. Have not found a solution yet because other criteria such as inertia may not still function correctly if inactive DOFs are taken out.

Constructor & Destructor Documentation

OSCAR::PCJacobian::PCJacobian (  FKJacobian *    fkJacobian ) 
 

Constructor for PCJacobian This constructor creates an object PCJacobian that contains the computational ability to compute jacobian based criteria. DH parameters and other data such as the tool point set in the FKJacobian object.

Parameters:
fkJacobian A pointer to the FKJacobian object that calculates the Jacobian matrices.

OSCAR::PCJacobian::PCJacobian (  const PCJacobian &    crit ) 
 

Copy Constructor for PCJacobian Use this to create a PCJacobian object whose defaults are set via the constructor argument. Note: the pointer to the jacobian repository is also copied so it now points to the same repository unless a different RepositoryList is specified in computeCriteria. The fkJacobianPtr is also copied so changes to it will now affect both criteria.

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

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

Destructor for PCJacobian.

Member Function Documentation

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

Copy operator for PCJacobian Use this to copy one PCJacobian object into another. Note: the pointer to the jacobian repository is also copied so it now points to the same repository unless a different RepositoryList is specified in computeCriteria. The fkJacobianPtr is also copied so changes to it will now affect both criteria.

Returns:
A reference to itself
Parameters:
crit A PCJacobian object that is copied into the calling object.

bool OSCAR::PCJacobian::update (  RepositoryList &    repoList )  [protected]
 

Reimplemented in OSCAR::PCADistToEEWrench, OSCAR::PCADistToEEWrenchD1, OSCAR::PCCompliance, OSCAR::PCComplianceEigenVectors, OSCAR::PCEEFInertia, OSCAR::PCJacobianEigenValues, and OSCAR::PCJacobianPseudoInverse.

Member Data Documentation

FKJacobian* OSCAR::PCJacobian::fkJacobian [protected]
 

MatrixRepository* OSCAR::PCJacobian::jacobianPtr [protected]
 

The documentation for this class was generated from the following file:
RRG Homepage OSCAR Overview OSCAR Tutorials Simulations