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OSCAR::PCJointTorque Class Reference
[ObstacleAvoidance]

Minimizes joint torques due to artificial forces. More...

#include <PCJointTorque.hpp>

Inheritance diagram for OSCAR::PCJointTorque:

Inheritance graph
[legend]
List of all members.

Public Methods

 PCJointTorque (WorkCell &workCell, const ArtificialPotentialF &func, Node *manipulator)
 PCJointTorque (const PCJointTorque &crit)
PCJointTorque & operator= (const PCJointTorque &crit)
virtual ~PCJointTorque ()

Protected Methods

virtual bool computeCriteria (RepositoryList &repoList)

Detailed Description

Author:
Ethan Swint

Constructor & Destructor Documentation

OSCAR::PCJointTorque::PCJointTorque (  WorkCell &    workCell,
const ArtificialPotentialF &    func,
Node *    manipulator
) 
 

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

Parameters:
JointTorque A pointer to the JointTorque object that calculates the JointTorque.

OSCAR::PCJointTorque::PCJointTorque (  const PCJointTorque &    crit ) 
 

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

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

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

Destructor for PCJointTorque.

Member Function Documentation

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

Implements OSCAR::PerformanceCriteria.

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

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

Returns:
A reference to itself
Parameters:
crit A PCJointTorque 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