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ObstacleAvoidance

The Obstacle Avoidance Library. More...


Files
file	CriteriaFuncs.hpp
Compounds
class	ArtificialPotentialF
	A function to calculate artificial potential field (APF). More...
class	Box
	A box obstacle used for modeling of objects in workcells. More...
class	CollisionDetection
	Collision Detection Class. More...
class	Cone
	A cone primitive used for modeling of objects in workcells The cone (in its local frame) will be symmetric about the y axis and its total height will be centered at y=0 with the tip of the cone at y=height/2. The cone can then be moved in its local from by specifying a local transform. More...
class	Cylisphere
	A cylispherical object for use in robot or as obstacle. More...
class	DistanceCalculator
	Interface class for Distance Calculators. More...
class	DistanceResultsRepository
	DistanceResultsRepository is a repository which holds DistanceResults objects, which in turn contain the witness points between manipulators and their surroundings, unit vectors pointing from the manipulator witness points, the magnitude of the distance between witness points, and the G and H functions of the witness points. More...
class	ModelingObject
	Abstract base class for Primitives and Nodes.
class	ModelingObjectMap
	Contains an STL map which indexes the name of ModelingObjects (Nodes and Primitives) with their address. Useful for finding the address of a modeling Node or Primitive just by knowing its name. The key to the STL map is an OSCAR::String, the data type being stored is ModelingObject*. More...
class	Node
	A Node a tree modeling structure containing instances of the primitives and child nodes, as well as methods to update the locations of the Node and the modeling objects contained within this Node and its children. Basically, a Node has a list of Node's inside it. This list of nodes constitutes its children. A Node also has a list of Primitive's in it. This list of Primitives constitutes the obstacles associated with just itself. More...
class	ObAvData
	Contains the functionality to read/write data from/to a file for obstacle avoidance. More...
class	ObAvInfo
	Holds results of manipulator-obstacle distance calculations. More...
class	ObAvInfoRepository
	ObAvInfoRepository is a repository which holds ObAvInfo objects, which in turn contain the witness points between manipulators and their surroundings, unit vectors pointing from the manipulator witness points, the magnitude of the distance between witness points, and the G and H functions of the witness points. More...
class	PCADistToEEWrench
	PCADistToEEWrench is derived from PCADistToTorque and PCJacobianPseudoInverse. More...
class	PCADistToEEWrenchD1
	PCADistToEEWrenchD1 is derived from PCADistToTorque and PCJacobianPseudoInverse. This class is not currently functional and can not be instantiated. More...
class	PCADistToForce
	PCADistToForce computes the joint Forces/forces based on distances to surrounding obstacles. More...
class	PCADistToForceD1
	PCADistToForceD1 is derived from PCADistToForce. More...
class	PCADistToTorque
	PCADistToTorque computes the joint torques/forces based on distances to surrounding obstacles. More...
class	PCADistToTorqueD1
	Computes the first derivative of the torques due to artificial forces. This class is not currently functional. More...
class	PCAverageDistReciprocal
	PCAverageDistReciprocal calculates the average of the reciprocal of the minimum distance from the robot arm to obstacles. More...
class	PCAWorkCell
	PCAWorkCell uses a WorkCell to compute and store the obstacle avoidance information (see DistanceResults). More...
class	PCEEWrench
	PCEEWrench is derived from PCADistToEEWrench. More...
class	PCEEWrenchD1
	PCEEWrenchD1 is derived from PCAWorkCell. More...
class	PCJointTorque
	Minimizes joint torques due to artificial forces. More...
class	PCLinkForce
	PCLinkForce minimizes the average of the artificial forces acting on the links. More...
class	PCSmallestMinDist
	PCSmallestMinDist calculates the minimum distance from the robot arm to any obstacle in the environment. More...
class	Plane
	Define a planar primitive for use in robot obstacle avoidance. More...
class	Polytope
	Class for STL based polytope obstacle models Currently an empty class which can be instantiated but can not be used for anything useful. More...
class	Primitive
	Base for geometric primitives.
class	ScaleInverseF
	\ ScaleInverseF One type of APF where Scalar function goes as the inverse of the argument The function is F(x) = k*[(mx-mn)/(x-mn)]^z + thresh, so that as (x->inf), (F(x)->thresh), (x=mx), (F(x) = k + thresh), and as (x->mn), (F(x)->inf). Note: this function object does not check for x < mn. A special case is when k=1, z=1, mx=1, mn=0, and thresh=0, then F(x) = 1/x.
class	ScaleInverseVanishF
	\ ScaleInverseVanishF One type of APF where Scalar function starts from infinity at a certain value and decreases as the argument grows until vanishing completely at a certain value. The function is F(x) = k*[(mx-x)/(x-mn)]^z + thresh, so that if (x>=mx), (F(x) = thresh), and as (x->mn), (F(x)->inf). If thres = 0, then it means that APF will have no effect when x >= mx. Note: this function object does not check for x < mn.
class	SkeletalPrimitive
	Base for skeletal geometric primitives. More...
class	Sphere
	Define a spherical primitive for use in robot obstacle avoidance. More...
class	WorkCell
	Contains a geometric description of the work cell (from an ObAvData object) and computes witness points (minimum distances between robots and other models) and derivatives of witness points (stored in an ObAvInfo object). More...
Functions
double	PointLine (const Vector3 &a, const Vector3 &b0, const Vector3 &b1, Vector3 &bWit, Vector3 &unitVec, double &t)
double	LineLine (const Vector3 &a0, const Vector3 &a1, const Vector3 &b0, const Vector3 &b1, Vector3 &aWit, Vector3 &bWit, Vector3 &unitVec, double &t0, double &t1)
double	LineFacet (const Vector3 &a0, const Vector3 &a1, const std::vector< Vector3 > &facetPoints, Vector3 &unitVec, double &t1, double &t2)
double	LineFacet (const Vector3 &a0, const Vector3 &a1, const std::vector< Vector3 > &facetPoints, const Vector3 &facetNormal, Vector3 &unitVec, double &t1, double &t2)
void	calcJointTorques (const Xform *globalXforms, const Vector3 &forceLocation, const Vector3 &force, unsigned int linkIndex, Vector &torques)
void	calcJointTorquesToBase (const Xform *globalXforms, const Vector3 &forceLocation, const Vector3 &force, unsigned int linkIndex, Vector &torques)
void	calcJointTorquesToEE (const Xform *globalXforms, const Vector3 &forceLocation, const Vector3 &force, unsigned int linkIndex, Vector &torques)
bool	CalcJointTorques (FKPosition &fk, const Vector &jointPositions, Vector &torques, const Vector3 &forceLocation, const Vector3 &force, unsigned int linkIndex)
bool	CalcJointTorques (const FKPosition &fk, Vector &torques, const Vector3 &forceLocation, const Vector3 &force, unsigned int linkIndex)
void	calculateSupportReactionForces (const Vector3 &base0, const Vector3 &base1, const Vector3 &forceLocation, const Vector3 &force, Vector3 &base0FRX, Vector3 &base1FRX)
void	calculateSupportReactions (const Vector3 &base0, const Vector3 &base1, const Vector3 &forceLocation, const Vector3 &force, Vector3 &base0FRX, Vector3 &base0TRX, Vector3 &base1FRX, Vector3 &base1TRX)
template<class T> VectorNumeric< T > &	RowToVector (const Matrix &matx, unsigned int row, VectorNumeric< T > &copy)
template<class T> VectorNumeric< T > &	ColToVector (const Matrix &matx, unsigned int col, VectorNumeric< T > &copy)
Variables
const OSCARError	ObstacleAvoidanceError
const OSCARError	CollisionDetectionError
const OSCARError	sampleError

Detailed Description

This library contains obstacle avoidance criteria and the modeling system used to compute them.

Function Documentation

bool CalcJointTorques ( const FKPosition & fk,

Vector & torques,

const Vector3 & forceLocation,

const Vector3 & force,

unsigned int linkIndex

)

Maps external forces to reactive torques at the joints and adds them to the torque argument.

Parameters:

fk A FKPosition object used to get the global transformations

torques A vector of length fk.GetDOF() in which to store the torques. This should be zeroed by the caller, if desired.

forceLocation The location acted upon by the force

force A force vector The index of the link where the force is acting

bool CalcJointTorques ( FKPosition & fk,

const Vector & jointPositions,

Vector & torques,

const Vector3 & forceLocation,

const Vector3 & force,

unsigned int linkIndex

)

Maps external forces to reactive torques at the joints and adds them to the torque argument.

Parameters:

fk A FKPosition object used to get the global transformations

jointPositions The joint positions for the manipulator

torques A vector of length fk.GetDOF() in which to store the torques. This should be zeroed by the caller, if desired.

forceLocation The location acted upon by the force

force A force vector The index of the link where the force is acting

void calcJointTorques ( const Xform * globalXforms,

const Vector3 & forceLocation,

const Vector3 & force,

unsigned int linkIndex,

Vector & torques

)

Maps external forces to reactive torques at the joints and adds them to the torque argument.

Parameters:

globalXforms Array of Xform object representing the global transformations for each frame

forceLocation The location acted upon by the force

force A force vector The index of the link where the force is acting

torques A vector of length fk.GetDOF() in which to store the torques. This should be zeroed by the caller, if desired.

void calcJointTorquesToBase ( const Xform * globalXforms,

const Vector3 & forceLocation,

const Vector3 & force,

unsigned int linkIndex,

Vector & torques

)

Maps external forces to reactive torques at the joints proximal to linkIndex and adds them to the torque argument.

Parameters:

globalXforms Array of Xform object representing the global transformations for each frame

forceLocation The location acted upon by the force

force A force vector The index of the link where the force is acting

torques A vector of length fk.GetDOF() in which to store the torques. This should be zeroed by the caller, if desired.

void calcJointTorquesToEE ( const Xform * globalXforms,

const Vector3 & forceLocation,

const Vector3 & force,

unsigned int linkIndex,

Vector & torques

)

Maps external forces to reactive torques at the joints distal to linkIndex and adds them to the torque argument.

Parameters:

globalXforms Array of Xform object representing the global transformations for each frame

forceLocation The location acted upon by the force

force A force vector The index of the link where the force is acting

torques A vector of length fk.GetDOF() in which to store the torques. This should be zeroed by the caller, if desired.

void calculateSupportReactionForces ( const Vector3 & base0,

const Vector3 & base1,

const Vector3 & forceLocation,

const Vector3 & force,

Vector3 & base0FRX,

Vector3 & base1FRX

)

Calculates the support reactions due to a force loading an object with two supports.

Parameters:

base0 First support location

base1 Second support location

forceLocation The point that the force acts upon

force The force The reactive force at the first support The reactive force at the second support

void calculateSupportReactions ( const Vector3 & base0,

const Vector3 & base1,

const Vector3 & forceLocation,

const Vector3 & force,

Vector3 & base0FRX,

Vector3 & base0TRX,

Vector3 & base1FRX,

Vector3 & base1TRX

)

Calculates the support reactions due to a force loading an object with two supports.
The torque reactions are computed by considering the arm to be cantilevered at the base and the force reaction for that base.
Parameters:

base0 First support location

base1 Second support location

forceLocation The point that the force acts upon

force The force The reactive force at the first support The reactive torque at the first support The reactive force at the second support The reactive torque at the second support

template<class T>

VectorNumeric<T>& ColToVector ( const Matrix & matx,

unsigned int col,

VectorNumeric< T > & copy

)

Copies a matrix column to an VectorNumeric, truncating to the end of the column or end of the vector, whichever is first.

Parameters:

matx The matrix to copy from

col The index of the column to copy

copy The VectorNumeric which to copy the values into

Returns:
A reference to copy

double LineFacet ( const Vector3 & a0,

const Vector3 & a1,

const std::vector< Vector3 > & facetPoints,

const Vector3 & facetNormal,

Vector3 & unitVec,

double & t1,

double & t2

)

Lacks implementation.

double LineFacet ( const Vector3 & a0,

const Vector3 & a1,

const std::vector< Vector3 > & facetPoints,

Vector3 & unitVec,

double & t1,

double & t2

)

Calculates the minimum distance between two line segments.

double LineLine ( const Vector3 & a0,

const Vector3 & a1,

const Vector3 & b0,

const Vector3 & b1,

Vector3 & aWit,

Vector3 & bWit,

Vector3 & unitVec,

double & t0,

double & t1

)

Calculates the minimum distance between a line segment and a point unitVec points from b to a upon return.

double PointLine ( const Vector3 & a,

const Vector3 & b0,

const Vector3 & b1,

Vector3 & bWit,

Vector3 & unitVec,

double & t

)

Calculates the minimum distance between a line segment and a point unitVec points from b to a upon return.

template<class T>

VectorNumeric<T>& RowToVector ( const Matrix & matx,

unsigned int row,

VectorNumeric< T > & copy

)

Copies a matrix row to an VectorNumeric, truncating to the end of the row or end of the vector, whichever is first.
This method is particularly useful for copying the x, y, or z axis from an Xform
Parameters:

matx The matrix to copy from

row The index of the row to copy

copy The VectorNumeric which to copy the values into

Returns:
A reference to copy

Variable Documentation

const OSCARError OSCAR::CollisionDetectionError

const OSCARError OSCAR::ObstacleAvoidanceError

const OSCARError OSCAR::sampleError

ObstacleAvoidance

Files

Compounds

Functions

Variables

Detailed Description

Function Documentation

Variable Documentation