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OSCAR::PCLinkForce Class Reference
[ObstacleAvoidance]

PCLinkForce minimizes the average of the artificial forces acting on the links. More...

#include <PCLinkForce.hpp>

Inheritance diagram for OSCAR::PCLinkForce:

Inheritance graph
[legend]
List of all members.

Public Methods

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

Protected Methods

virtual bool computeCriteria (RepositoryList &repoList)
double calculateCriteria (DistanceResults &results)

Detailed Description

Author:
Ethan Swint
PCLinkForce is derived from PCAWorkCell.

Constructor & Destructor Documentation

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

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

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

OSCAR::PCLinkForce::PCLinkForce (  const PCLinkForce &    crit ) 
 

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

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

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

Destructor for PCLinkForce.

Member Function Documentation

double OSCAR::PCLinkForce::calculateCriteria (  DistanceResults &    results )  [protected]
 

Reimplemented from OSCAR::PCADistToForce.

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

Implements OSCAR::PerformanceCriteria.

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

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

Returns:
A reference to itself
Parameters:
crit A PCLinkForce 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