PL_PRM_ClosedJacobian Class Reference

#include <planners/closedchain/PL_PRM_ClosedChain.h>

Inherits PL_PRM_ClosedBase.

Inherited by PL_PRM_ClosedChain [virtual].

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List of all members.

Public Member Functions

 PL_PRM_ClosedJacobian ()
 ~PL_PRM_ClosedJacobian ()
virtual void SetCollisionDetector (CD_BasicStyle *collisionDetector)
virtual bool MakeItClosed (Configuration &conf)
virtual bool IsInterfering (const Configuration &c1, const Configuration &c2)

Protected Attributes

R_OpenChainm_pRobot
int m_nDof
int m_nToolFrame
Frame m_frEndEffector
CJacobianjacobian

Detailed Description

Definition at line 93 of file PL_PRM_ClosedChain.h.


Constructor & Destructor Documentation

PL_PRM_ClosedJacobian::PL_PRM_ClosedJacobian  ) 
 

Definition at line 395 of file PL_PRM_ClosedChain.cpp.

References jacobian, and m_pRobot.

PL_PRM_ClosedJacobian::~PL_PRM_ClosedJacobian  ) 
 

Definition at line 401 of file PL_PRM_ClosedChain.cpp.

References jacobian.


Member Function Documentation

bool PL_PRM_ClosedJacobian::IsInterfering const Configuration c1,
const Configuration c2
[virtual]
 

Implements PL_PRM_ClosedBase.

Reimplemented in PL_PRM_ClosedChain.

Definition at line 456 of file PL_PRM_ClosedChain.cpp.

References DEF_RESOLUTION, PL_PRM_ClosedBase::edgeFrag, CJacobian::GetMatrix(), Matrixmxn::Inverse(), PL_GraphBase::IsInterfering(), jacobian, m_frEndEffector, m_nDof, VectorN::Magnitude(), MakeItClosed(), CJacobian::SetConfiguration(), and CJacobian::SetInterestPoint().

Referenced by PL_PRM_ClosedChain::IsInterfering().

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bool PL_PRM_ClosedJacobian::MakeItClosed Configuration conf  )  [virtual]
 

Implements PL_PRM_ClosedBase.

Reimplemented in PL_PRM_ClosedChain.

Definition at line 429 of file PL_PRM_ClosedChain.cpp.

References DEF_ERR_TOLERANCE, CJacobian::GetMatrix(), PL_PRM_ClosedBase::GetToolFrame(), Frame::GetTranslationVector(), Matrixmxn::Inverse(), jacobian, m_frEndEffector, m_nDof, Vector4::Magnitude(), Rad2Deg(), CJacobian::SetConfiguration(), and CJacobian::SetInterestPoint().

Referenced by IsInterfering(), and PL_PRM_ClosedChain::MakeItClosed().

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void PL_PRM_ClosedJacobian::SetCollisionDetector CD_BasicStyle collisionDetector  )  [virtual]
 

Reimplemented from PL_PRM.

Reimplemented in PL_PRM_ClosedChain, PL_RRT_ClosedChain, PL_PRM_ClosedChain, and PL_RRT_ClosedChain.

Definition at line 407 of file PL_PRM_ClosedChain.cpp.

References PL_HasCollisionDetector::collisionDetector, CD_BasicStyle::DeactivateFrames(), CD_BasicStyle::DOF(), CD_BasicStyle::GetFrameManager(), FrameManager::GetFrameRef(), CD_BasicStyle::GetRobot(), R_OpenChain::GetToolFrame(), Matrix4x4::Identity(), jacobian, m_frEndEffector, m_nDof, m_nToolFrame, m_pRobot, and PL_PRM::SetCollisionDetector().

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Member Data Documentation

CJacobian* PL_PRM_ClosedJacobian::jacobian [protected]
 

Reimplemented in PL_RRT_ClosedChain.

Definition at line 108 of file PL_PRM_ClosedChain.h.

Referenced by IsInterfering(), MakeItClosed(), PL_PRM_ClosedJacobian(), SetCollisionDetector(), and ~PL_PRM_ClosedJacobian().

Frame PL_PRM_ClosedJacobian::m_frEndEffector [protected]
 

Reimplemented in PL_RRT_ClosedChain.

Definition at line 107 of file PL_PRM_ClosedChain.h.

Referenced by IsInterfering(), MakeItClosed(), and SetCollisionDetector().

int PL_PRM_ClosedJacobian::m_nDof [protected]
 

Reimplemented in PL_RRT_ClosedChain.

Definition at line 105 of file PL_PRM_ClosedChain.h.

Referenced by IsInterfering(), MakeItClosed(), and SetCollisionDetector().

int PL_PRM_ClosedJacobian::m_nToolFrame [protected]
 

Reimplemented in PL_RRT_ClosedChain.

Definition at line 106 of file PL_PRM_ClosedChain.h.

Referenced by SetCollisionDetector().

R_OpenChain* PL_PRM_ClosedJacobian::m_pRobot [protected]
 

Reimplemented in PL_RRT_ClosedChain.

Definition at line 104 of file PL_PRM_ClosedChain.h.

Referenced by PL_PRM_ClosedJacobian(), and SetCollisionDetector().


The documentation for this class was generated from the following files:
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