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FKJacobianPlanar3R.h

Go to the documentation of this file.

//
//       Title       : FKJacobianPlanar3R.h
//       Project     : OSCAR
//       Created     : Thu Feb  8 10:15:06 1996
//       Author      : Chetan Kapoor
//       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//                 This software and documentation constitute an unpublished work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 for velocity level solution for a  3R planar
//
//----------------------------------------------------------------------------
//
//       Classes:
//               <none>
//
//       Global Functions:
//               <none>
//
//       Global Variables:
//               <none>
//
//----------------------------------------------------------------------------
//
//       $Revisions$
//        
//       $Log: FKJacobianPlanar3R.h,v $
//       Revision 1.4  2005/03/14 21:53:00  pmarch
//       Added to namespace OSCAR and removed "RR" from front of class names.
//
//       Revision 1.3  2004/07/23 22:19:51  chetan
//       Made changes to compile with Warning Level 4 and also under the latest C++ standard
//
//       Revision 1.2  2004/05/26 20:10:10  pmarch
//       Added /defgroup and /ingroup tags.
//
//       Revision 1.1  2003/08/18 20:32:17  pmarch
//       Initial commit of ForwardKinematics
//
//
#ifndef FKJacobianPlanar3R_hpp
#define FKJacobianPlanar3R_hpp

#include "ForwardKinematics/Kinematics.h"
#include "ForwardKinematics/FKPositionBase.h"
#include "ForwardKinematics/FKJacobianBase.h"


namespace OSCAR {

  class FKJacobianPlanar3R : public Kinematics, public FKPositionBase, public FKJacobianBase
  {
  public:
  
    FKJacobianPlanar3R(const String& DHfilename, OSCARError& err = DUMMY_ERROR(noError), const String& name = String(" "));


    FKJacobianPlanar3R(const DHData& dhParams, OSCARError& err = DUMMY_ERROR(noError), const String& name = String(" "));

    FKJacobianPlanar3R(const FKJacobianPlanar3R& fkj);


    FKJacobianPlanar3R& operator=(const FKJacobianPlanar3R& fkj);


    const Xform* GetHandPose(const Vector& jointVector);
 

    const Matrix* GetJacobian(const Vector& jointVector);


    virtual ~FKJacobianPlanar3R(){};
  private:
    double        L1, L2;
    Xform   linkToBase;
    Matrix  jacobian;
  };

}
#endif  // FKJacobianPlanar3R_hpp

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