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Todo List

Member OSCAR::Base::DisableErrorLogging (): This method is not currently thread safe.

Member OSCAR::Base::EnableErrorLogging (const String &errLogFileName=String("OSCARErrorLog.txt")): This method is not currently thread safe.

Class OSCAR::DistanceCalculator

Class OSCAR::FixedSizeArray< Arr, sz >: Change memory allocation to static once template-template arguments are supported

Class OSCAR::ObAvData: -# Move fk and UpdateArm computation to WorkCell . ObAvData should only be for data storage.

Class OSCAR::PCADistToTorqueD1: - # Allow user to specify joint velocities. Currently, joint velocities used in calculating the first derivative of force are estimated from previous joint positions. -# Something else I'm sure .

Class OSCAR::PCEEWrench

Class OSCAR::PCJacobian: Jacobian criteria need to handle a downsized Jacobian for when DOF's become inactive. Have not found a solution yet because other criteria such as inertia may not still function correctly if inactive DOFs are taken out.

Class OSCAR::PCJacobianEigenValues: Jacobian criteria need to handle a downsized Jacobian for when DOF's become inactive. Have not found a solution yet because other criteria such as inertia may not still function correctly if inactive DOFs are taken out.

Class OSCAR::PCJacobianFrobeniusNorm: JFN values differ slightly from Version 1 JFN values. I believe the difference is in how the frobenius norm is calculated. Version 1 squares eigenvalues for each row and adds them together while the new version squares and adds each member of the Jacobian. This needs to be resolved.

Class OSCAR::PCMeasureOfTransmissibility: Determine how criteria values relate to multiple physical meanings and since the determinant can also be computed by multiplying the eigenvalues together use those if they already exist.

Class OSCAR::PCVectorLimits: Create a method which checks for actual limit violation and sets validity of the solution. Currently, the computeCriteria method generates a sum of limits, allowing some elements of the vector to exceed the limits. (to allow "performance reserve" functionality)
Add other ways of computing the criteria value, e.g. vector norm, worst element, summation(already present)

Member OSCAR::PCVectorLimits::SetLimits (const Matrix &limits): Add a SetLimits which takes an Vector.

Class OSCAR::PerformanceCriteria: PerformanceCriteria, when sent a set of joint solutions created by IKJGenerateOptions, currently calculates the properties of all joint solutions, regardless of the joint solutions validity. This is an efficiency issue. Also, it is possible for PickSolution to pick an invalid solution. This needs to be changed.

Member OSCAR::RepositoryList::SetJointOptions (VectorArray &solutions): Later this could be placed inside the GenerateOptions object so everytime solutions are generated by IK they are automatically set in the List.

Class OSCAR::WorkCell: -Remove FKAcceleration objects and just use arrays of position transformation, G, & H matrices. This will require the user to set the joint positions of the FK objects, but will allow for more flexible modeling.

OSCAR Tutorials