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OSCAR::PCSmallestMinDist Class Reference
[ObstacleAvoidance]

PCSmallestMinDist calculates the minimum distance from the robot arm to any obstacle in the environment. More...

#include <PCSmallestMinDist.hpp>

Inheritance diagram for OSCAR::PCSmallestMinDist:

Inheritance graph
[legend]
List of all members.

Public Methods

 PCSmallestMinDist (WorkCell &workCell, Node *manipulator=0)
 PCSmallestMinDist (const PCSmallestMinDist &crit)
PCSmallestMinDist & operator= (const PCSmallestMinDist &crit)
virtual ~PCSmallestMinDist ()

Protected Methods

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

Detailed Description

PCSmallestMinDist computes the absolute minimum distance from a robot arm to any obstacle in the environment.
Author:
Ethan Swint

Constructor & Destructor Documentation

OSCAR::PCSmallestMinDist::PCSmallestMinDist (  WorkCell &    workCell,
Node *    manipulator = 0
) 
 

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

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

OSCAR::PCSmallestMinDist::PCSmallestMinDist (  const PCSmallestMinDist &    crit ) 
 

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

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

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

Destructor for PCSmallestMinDist.

Member Function Documentation

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

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

Implements OSCAR::PerformanceCriteria.

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

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

Returns:
A reference to itself
Parameters:
crit A PCSmallestMinDist 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