---

CriteriaFuncs.hpp

Go to the documentation of this file.

//
//      Title           : CriteriaFuncs.hpp
//      Project         : OSCAR
//      Created         : Oct 25, 2004
//      Author          : Ethan Swint
//      Platforms       : All
//      Copyright       : Copyright© The University of Texas at Austin, 2002. All rights reserved.
//                 
//          This software and documentation constitute an unpublished work
//          and contain valuable trade secrets and proprietary information
//          belonging to the University. None of the foregoing material may be
//          copied or duplicated or disclosed without the express, written
//          permission of University. THE UNIVERSITY EXPRESSLY DISCLAIMS ANY
//          AND ALL WARRANTIES CONCERNING THIS SOFTWARE AND DOCUMENTATION,
//          INCLUDING ANY WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A
//          PARTICULAR PURPOSE, AND WARRANTIES OF PERFORMANCE, AND ANY WARRANTY
//          THAT MIGHT OTHERWISE ARISE FROM COURSE OF DEALING OR USAGE OF TRADE.
//          NO WARRANTY IS EITHER EXPRESS OR IMPLIED WITH RESPECT TO THE USE OF
//          THE SOFTWARE OR DOCUMENTATION. Under no circumstances shall the
//          University be liable for incidental, special, indirect, direct or
//          consequential damages or loss of profits, interruption of business,
//          or related expenses which may arise from use of software or documentation,
//          including but not limited to those resulting from defects in software
//          and/or documentation, or loss or inaccuracy of data of any kind.
//       Purpose         : This file contains global functions to compute  mappings from minimum distances
//
//       $Log: CriteriaFuncs.hpp,v $
//       Revision 1.14  2007/03/30 20:41:26  aspencer
//       Changed obstacle avoidance criteria to use the new node structure as the basis for its modeling.
//
//       Revision 1.13  2005/06/22 21:24:49  aspencer
//       Added an ingroup command to the doxygen commenting.
//
//       Revision 1.12  2005/06/01 22:27:28  chetan
//       Made changes to copyright headers
//
//
/*! \file CriteriaFuncs.hpp
    \brief A Documented file.
    
    This file contains global functions to compute  mappings from minimum distances
    \ingroup ObstacleAvoidance
*/

#include "Math/Tensor.h"
#include "ScaleInverseF.hpp"
#include "DistanceResults.hpp"
#include <vector>
#include <list>
namespace OSCAR {
  bool distToForce(const ArtificialPotentialF& func, const Matrix& minDist, Matrix& forces);

  bool forceToTorque(const Tensor& gDist, const Matrix& forces, Vector& torque);

  bool forceToTorque(const DistanceResults& results, std::list<Primitive*>& armPrimitives, std::list<Primitive*>& enviPrimitives, Vector& torque);

  bool torqToEEWrench(const Vector& torques, const Matrix& jacobInv, Vector& eeForce);


  bool distToForceD1(const ArtificialPotentialF& func, const Matrix& minDist, const Matrix& forces, Matrix& forcesD1);

  bool forceToTorqueD1(const std::vector<Tensor*>& hDist,
                                             const Tensor& gDist,
                                             const Matrix& forces,
                                             const Matrix& forcesD1,
                                             const Vector& jointVel,
                                             const Vector& torques,
                                             Vector& torquesD1);

  bool torqToEEWrenchD1(const Tensor& eeTransHFunc,
                                    const Tensor& eeRotHFunc,
                                    const Matrix& jacobianInv,
                                    const Vector& jointVel,
                                    const Vector& torques,
                                    const Vector& torquesD1,
                                    const Vector& eeForce,
                                    Vector& eeForceD1);
}//end namespace OSCAR

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