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OSCAR::Tool Class Reference
[Device]

Base class for all end effector tools. Each tool should be derived from this class and should support all the methods. More...

#include <Tool.h>

Inheritance diagram for OSCAR::Tool:

[legend]List of all members.


Public Methods
	Tool (const String &name=String(), OSCARError &err=DUMMY_ERROR(noError))
	Tool (const Vector3D &toolPoint, const String &name=String(), OSCARError &err=DUMMY_ERROR(noError))
	Tool (const Xform &toolFrame, const String &name=String(), OSCARError &err=DUMMY_ERROR(noError))
	Tool (const Tool &tool)
Tool &	operator= (const Tool &tool)
virtual	~Tool ()
virtual void	SetToolFrame (const Vector3D &toolPoint)
virtual void	SetToolFrame (const Xform &toolFrame)
virtual bool	GetToolFrame (Xform &toolFrame) const
virtual bool	GetToolFrame (Vector3D &toolPoint) const
void	ClearToolFrame ()
virtual bool	GetToolMassProperties (Vector3D &CG, double &mass) const
virtual void	SetToolMassProperties (const Vector3D &CG, double mass)
void	ClearToolMassProperties ()
Protected Attributes
Xform	toolFrame
bool	isToolSet
bool	isToolMassPropSet
Vector3	toolCG
double	toolMass

Detailed Description

Author:: Chetan Kapoor

Constructor & Destructor Documentation

OSCAR::Tool::Tool ( const String & name = String(),

OSCARError & err = DUMMY_ERROR(noError)

)

Constructor for Tool Use this to construct a Tool object in which no tool frame is specified.

Parameters:

name Name you want to assign to object. Default is " ".

err An OSCARError object that on return will hold the value of the error code that was generated when the constructor was called. If this error was not 'noError' you can call GetError() to get the details of the error code.

See also:
SetToolFrame(const Xform& toolFrame)
SetToolFrame(const Vector3D& toolPoint)
Tool(const Vector3D& toolPoint, const String& name, OSCARError& err)
Tool(const Xform& toolFrame, const String& name, OSCARError& err)

OSCAR::Tool::Tool ( const Vector3D & toolPoint,

const String & name = String(),

OSCARError & err = DUMMY_ERROR(noError)

)

Constructor for Tool Use this to construct a Tool object by specifying a tool frame for the tool.

Parameters:

toolPoint A three long vector that specifies the X, Y, and Z coordinates of the tool point for the tool with respect to the base plate of the tool. This tool point can then be used by the kinematics objects.

name Name you want to assign to object. Default is " ".

err An OSCARError object that on return will hold the value of the error code that was generated when the constructor was called. If this error was not 'noError' you can call GetError() to get the details of the error code.

See also:
Tool(const String& name, OSCARError& err)
Tool(const Xform& toolFrame, const String& name, OSCARError& err)
SetToolFrame(const Xform& toolFrame)
SetToolFrame(const Vector3D& toolPoint)
GetToolFrame(Xform& toolFrame) const
GetToolFrame(Vector3D& toolPoint) const
ClearToolFrame()

OSCAR::Tool::Tool ( const Xform & toolFrame,

const String & name = String(),

OSCARError & err = DUMMY_ERROR(noError)

)

Constructor for Tool Use this to construct a Tool object by specifying a tool frame for the tool.

Parameters:

toolFrame A 4X4 matrix that specifies the X, Y, and Z coordinates and the orientation of the tool point for the tool with respect to the base plate of the tool. This tool frame can then be used by the kinematics objects.

name Name you want to assign to object. Default is " ".

err An OSCARError object that on return will hold the value of the error code that was generated when the constructor was called. If this error was not 'noError' you can call GetError() to get the details of the error code.

See also:
Tool(const String& name, OSCARError& err)
Tool(const Vector3D& toolPoint, const String& name, OSCARError& err)
SetToolFrame(const Xform& toolFrame)
SetToolFrame(const Vector3D& toolPoint)
GetToolFrame(Xform& toolFrame) const
GetToolFrame(Vector3D& toolPoint) const
ClearToolFrame()

OSCAR::Tool::Tool ( const Tool & tool )

virtual OSCAR::Tool::~Tool ( ) [inline, virtual]

Destructor for Tool.

Member Function Documentation

void OSCAR::Tool::ClearToolFrame ( )

Use this to reset the tool frame of the tool to a 'not set' state This method will reset the tool frame to be the same as the base plate of the tool.

See also:
SetToolFrame(const Vector3D& toolPoint)
SetToolFrame(const Xform& toolFrame)
GetToolFrame(Xform& toolFrame) const
GetToolFrame(Vector3D& toolPoint) const

void OSCAR::Tool::ClearToolMassProperties ( )

Use this to reset the tool mass properties to a 'not set' state This method will reset the tool CG location to be the same as the base plate of the tool and the tool mass equal to 0.

See also:
GetToolMassProperties(Vector3D& CG, double& mass)
SetToolMassProperties(const Vector3D& CG, double mass)

virtual bool OSCAR::Tool::GetToolFrame ( Vector3D & toolPoint ) const [virtual]

Use this to query the location of the tool point for the tool. This method can be called without an argument to query whether a tool point has been set or not.

Returns:
A true if the tool point was previously set and a false if it was not set.

Parameters:

toolPoint A three long vector that returns the X, Y, and Z coordinates of the tool point for the tool with respect to the base plate of the tool. This tool point can then be used by the kinematics objects.

See also:
SetToolFrame(const Vector3D& toolPoint)
SetToolFrame(const Xform& toolFrame)
GetToolFrame(Xform& toolFrame) const
ClearToolFrame()

virtual bool OSCAR::Tool::GetToolFrame ( Xform & toolFrame ) const [virtual]

Use this to query the location of the tool frame for the tool. This method can be called without an argument to query whether a tool frame has been set or not.

Returns:
A true if the tool frame was previously set and a false if it was not set.

Parameters:

toolFrame A 4X4 matrix that returns the X, Y, and Z coordinates and the orientation of the tool point for the tool with respect to the base plate of the tool. This tool frame can then be used by the kinematics objects. If tool frame is not set, an identity matrix is returned.

See also:
SetToolFrame(const Vector3D& toolPoint)
SetToolFrame(const Xform& toolFrame)
GetToolFrame(Vector3D& toolPoint) const
ClearToolFrame()

virtual bool OSCAR::Tool::GetToolMassProperties ( Vector3D & CG,

double & mass

) const [virtual]

Use this to query the CG and mass of the tool.

Returns:
A true if the mass properties have been set and false if they were not set.

Parameters:

CG A three long vector that returns the X, Y, and Z coordinates of the CG of the tool with respect to the base plate of the tool. This information can then be used to affect force torque readings to ignore the tool weight.

mass returns the mass of the tool.

See also:
SetToolMassProperties(const Vector3D& CG, double mass)
ClearToolMassProperties()

Tool& OSCAR::Tool::operator= ( const Tool & tool )

virtual void OSCAR::Tool::SetToolFrame ( const Xform & toolFrame ) [virtual]

Use this to set the location of the tool point for the tool.

Parameters:

toolFrame A 4X4 matrix that specifies the X, Y, and Z coordinates and the orientation of the tool point for the tool with respect to the base plate of the tool. This tool frame can then be used by the kinematics objects.

See also:
Tool(const Vector3D& toolPoint, const String& name, OSCARError& err)
Tool(const Xform& toolFrame, const String& name, OSCARError& err)
SetToolFrame(const Vector3D& toolPoint)
GetToolFrame(Xform& toolFrame) const
GetToolFrame(Vector3D& toolPoint) const
ClearToolFrame()

virtual void OSCAR::Tool::SetToolFrame ( const Vector3D & toolPoint ) [virtual]

Use this to set the location of the tool point for the tool.

Parameters:

toolPoint A three long vector that specifies the X, Y, and Z coordinates of the tool point for the tool with respect to the base plate of the tool. In this case, the orientation of the tool point is assumed to be the same as the orientation of the base plate of the tool. This tool point can then be used by the kinematics objects.

See also:
Tool(const Vector3D& toolPoint, const String& name, OSCARError& err)
Tool(const Xform& toolFrame, const String& name, OSCARError& err)
SetToolFrame(const Xform& toolFrame)
GetToolFrame(Xform& toolFrame) const
GetToolFrame(Vector3D& toolPoint) const
ClearToolFrame()

virtual void OSCAR::Tool::SetToolMassProperties ( const Vector3D & CG,

double mass

) [virtual]

Use this to set the CG and mass of the tool.

Returns:
A true if the mass properties have been set and false if they were not set.

Parameters:

CG A three long vector that specifies the X, Y, and Z coordinates of the CG of the tool with respect to the base plate of the tool. This information can then be used to affect force torque readings to ignore the tool weight.

mass specify the mass of the tool. The units used here should be consistent with the rest of your application

See also:
SetToolMassProperties(const Vector3D& CG, double mass)
ClearToolMassProperties()