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FKJacobianMitsubishiPA-10.h

Go to the documentation of this file.

//
//       Title           : FKJacobianMitsubishiPA-10.h
//       Project         : OSCAR
//       Created         : January 5, 2005
//       Author          : Chalongrath Pholsiri
//       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//                 This software and documentation constitute an unpublished work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 University.  None of the foregoing material may be
//                 copied  or duplicated or disclosed without the express, written
//                 permission of University.  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
//                 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         : Class to compute a semi closed-form Jacobian for
//                         the Mitsubishi robot
//
//----------------------------------------------------------------------------
//
//       $Revisions$
//
//

#ifndef FKJacobianMitsubishi_hpp
#define FKJacobianMitsubishi_hpp

#include "ForwardKinematics/FKJacobianBase.h"
#include "ForwardKinematics/FKPositionMitsubishiPA-10.h"


namespace OSCAR {

  class FKJacobianMitsubishi : public FKPositionMitsubishi, public FKJacobianBase
  {
  
  public:

    FKJacobianMitsubishi(const String& dhParameterFileName, OSCARError& err = DUMMY_ERROR(noError), const String& name = String(" "));


    FKJacobianMitsubishi(const DHData& DHparams, OSCARError& err = DUMMY_ERROR(noError), const String& name = String(" "));


    FKJacobianMitsubishi(const FKJacobianMitsubishi& fkj);

    virtual ~FKJacobianMitsubishi();

    FKJacobianMitsubishi& operator=(const FKJacobianMitsubishi& fkj);

    const Xform* GetHandPose(const Vector& inputVector); 

    const Matrix* GetJacobian(const Vector& jointVector); 

    const Matrix* GetJacobian();

    const Matrix* GetJacobianTranspose( ) { return jacobianTranspose; }

          void SetBase(const Xform& pose);

          void SetBase(const Vector3D& location);

  protected:

    Matrix*   jacobian;  // holds [6 x n] Jacobian
    Matrix*   jacobianTranspose;
    Vector*   currentJointVector;

          // defined to avoid alloc/deallocation of temporaries
    Xform   basePoseInv, modifiedHand;
          Matrix        spatialXform;
          Matrix*       tempJacobian;

    void calculateJacobian();
                void fillSpatialXform();
  };

}
#endif  // FKJacobianMitsubishi_hpp

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