---

FKPosition.h

Go to the documentation of this file.

//
//       Title       : FKPosition.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//                 This software and documentation constitute an unpublished work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     : Forward Kinematics at the Position level
//
//----------------------------------------------------------------------------
//
//       Classes:
//               <none>
//
//       Global Functions:
//               <none>
//
//       Global Variables:
//               <none>
//
//----------------------------------------------------------------------------
//
//       $Revisions$
//
//       $Log: FKPosition.h,v $
//       Revision 1.5  2007/02/01 05:52:43  chetan
//       Changed GetGlobalTransformaton methods so that they can return the tool point xform
//
//       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 20:32:16  pmarch
//       Initial commit of ForwardKinematics
//
//

#ifndef FKPosition_hpp
#define FKPosition_hpp

#include "Math/Matrix.h"
#include "Math/Vector.h"
#include "Math/HandPose.h"
#include "Math/Xform.h"
#include "ForwardKinematics/FKErrors.h"
#include "ForwardKinematics/Kinematics.h"
#include "ForwardKinematics/FKPositionBase.h"


namespace OSCAR {

  class FKPosition : public Kinematics, public FKPositionBase
  {
  public:

    FKPosition(const String& DHfilename, OSCARError& err = DUMMY_ERROR(noError), const String& name = String(" "));


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


    FKPosition(const FKPosition& fkp);
  
  
    FKPosition& operator=(const FKPosition& fkp);
  
    const Xform* GetHandPose(const Vector& jointVector); 


    const Xform* GetLocalTransformation(unsigned int jointNo) const;


    const Xform* GetLocalTransformation(unsigned int jointNo, const Vector& jointVector);
  

    const Xform* GetGlobalTransformation(unsigned int jointNo) const;

    const Xform* GetGlobalTransformation(unsigned int jointNo, const Vector& jointVector);
  
    const Xform* GetAllLocalTransformations() const;

          const Xform* GetAllLocalTransformations(const Vector& jointVector);


    const Xform* GetAllGlobalTransformations() const;


    const Xform* GetAllGlobalTransformations(const Vector& jointVector);



    virtual ~FKPosition();
  protected:
    double                       *cosalpha, *sinalpha;  // arrays to hold sines and cosines
    double                       *costheta, *sintheta;  // cosines and sines for theta.  Valid for Prismatic joints
    Xform                        *localTransformations; // array of transformation matrices for each link; T01, T12..
    Xform                *linkToBase; // transformation matrices for each link to global frame: T01, T02 ...
  
    virtual void        calculateTransformations(const Vector& input_vector);
    virtual     void    calculateLinkTransformation(int joint_no, double joint_value);
    virtual void        calculateLinkToBaseTransformations(const Vector& input_vector);
    void                      makeToolPointAdjustment(void);
    void                      makeRobotPoseAdjustment(void);
    void          initialize(void);  // allocates memory, initializes objects. used by constructor
  
  };

  #include "ForwardKinematics/FKPosition.ipp"

}
#endif  // FKPosition_hpp

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