00001 00002 // 00003 // Title : IDStandAlone.h 00004 // Project : OSCAR Version 2.0 00005 // Created : Fri Jan 31 14:05:48 2003 00006 // Author : Chalongrath Pholsiri 00007 // Platforms : All 00008 // Copyright : Copyright© The University of Texas at Austin, 2002. All rights reserved. 00009 // 00010 // This software and documentation constitute an unpublished work 00011 // and contain valuable trade secrets and proprietary information 00012 // belonging to the University. None of the foregoing material may be 00013 // copied or duplicated or disclosed without the express, written 00014 // permission of University. THE UNIVERSITY EXPRESSLY DISCLAIMS ANY 00015 // AND ALL WARRANTIES CONCERNING THIS SOFTWARE AND DOCUMENTATION, 00016 // INCLUDING ANY WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A 00017 // PARTICULAR PURPOSE, AND WARRANTIES OF PERFORMANCE, AND ANY WARRANTY 00018 // THAT MIGHT OTHERWISE ARISE FROM COURSE OF DEALING OR USAGE OF TRADE. 00019 // NO WARRANTY IS EITHER EXPRESS OR IMPLIED WITH RESPECT TO THE USE OF 00020 // THE SOFTWARE OR DOCUMENTATION. Under no circumstances shall the 00021 // University be liable for incidental, special, indirect, direct or 00022 // consequential damages or loss of profits, interruption of business, 00023 // or related expenses which may arise from use of software or documentation, 00024 // including but not limited to those resulting from defects in software 00025 // and/or documentation, or loss or inaccuracy of data of any kind. 00026 // 00027 // Purpose : Abstract class for Standalone inverse dynamics. 00028 // 00029 //---------------------------------------------------------------------------- 00030 // 00031 // $Revisions$ 00032 // 00033 // $Log: IDStandAlone.h,v $ 00034 // Revision 1.5 2005/03/14 21:52:06 pmarch 00035 // Added to namespace OSCAR and removed "RR" from front of class names. 00036 // 00037 // Revision 1.4 2004/05/28 18:57:57 pmarch 00038 // Added /defgroup and /ingroup tags. 00039 // 00040 // Revision 1.3 2004/02/19 22:10:08 josh 00041 // - Removed constructor from IDStandAlone 00042 // 00043 // Revision 1.2 2003/09/16 19:17:47 josh 00044 // - Updated documentation 00045 // 00046 // Revision 1.1 2003/08/18 21:17:47 josh 00047 // Initial commit 00048 // 00049 // 00051 00052 #ifndef IDStandAlone_hpp 00053 #define IDStandAlone_hpp 00054 00055 #include "InverseDynamics.h" 00056 00058 namespace OSCAR { 00059 00071 class IDStandAlone : public virtual Base 00072 { 00073 public: 00074 00082 virtual bool SetJointPosition(const Vector& position) = 0; 00083 00090 virtual bool GetGravityTorques(Vector& torques); 00091 00099 virtual bool GetLoadTorques(const HandPose& eefLoad, Vector& torques); 00100 00109 virtual bool GetVelocityTorques(const Vector& velocity, 00110 Vector& torques); 00111 00120 virtual bool GetAccelerationTorques(const Vector& acceleration, 00121 Vector& torques); 00122 00131 virtual const Vector& GetJointTorques(const Vector& velocity, 00132 const Vector& acceleration, 00133 const HandPose& eefLoad = HandPose(0,0,0,0,0,0)); 00134 00139 virtual const Matrix* GetInertiaMatrix(); 00140 00141 protected: 00142 InverseDynamics *id; 00143 }; 00144 00145 } 00146 00147 #endif // IDStandAlone_hpp
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