CPassive Class Reference

#include <planners/inversekin/Passive.h>

Inherits CJoints.

Inheritance diagram for CPassive:

[legend]Collaboration diagram for CPassive:

[legend]List of all members.

Public Member Functions
	CPassive ()
	CPassive (FrameManager *frameManager)
virtual	~CPassive ()
virtual void	SetRobot (R_OpenChain *robot)
virtual void	SetLastJoint (unsigned int joint)
virtual void	SetEndEffectFrame (Frame &frame)
virtual void	SetDesireEndEffect (Frame &frame)
virtual void	SetFirstFrame (Frame &frame)
virtual bool	GetRandomConfiguration (Configuration &conf)
virtual bool	GetConfiguration (Configuration &conf)
virtual bool	GetConfiguration (Configuration &conf, Configuration &current)
virtual bool	GetConfiguration (Configuration &conf, Configuration &current, double dist)
Protected Attributes
Frame	firstFrame
Frame	effectFrame
Frame	desireEffect
Private Member Functions
bool	ResolveJoints (DH_Parameter type)
bool	ResolveJoints (DH_Parameter type1, DH_Parameter type2)
bool	ResolveJoints (DH_Parameter type1, DH_Parameter type2, DH_Parameter type3)
bool	Inverse ()
bool __inline	Solution (double a, double b, double c, double solution[2], int &num)
bool __inline	Solution (double a, double b, double c, double d, double &solution)
bool __inline	Solution (Frame &rotated, double &solution)
Private Attributes
Configuration *	solution
int	solutionNum

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Detailed Description

Definition at line 14 of file Passive.h.

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Constructor & Destructor Documentation

CPassive::CPassive (   )

Definition at line 47 of file Passive.cpp. References MAX_SOLUTION, and solution.

CPassive::CPassive (  FrameManager *  frameManager  )

Definition at line 52 of file Passive.cpp. References MAX_SOLUTION, and solution.

CPassive::~CPassive (   )  [virtual]

Definition at line 58 of file Passive.cpp. References solution.

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Member Function Documentation

bool CPassive::GetConfiguration (  Configuration &  conf, Configuration &  current, double  dist )  [virtual]

Implements CJoints. Definition at line 235 of file Passive.cpp. References CJoints::Distance(), CJoints::firstJoint, Inverse(), CJoints::jointNum, CJoints::links, VectorN::SetLength(), solution, and solutionNum. Here is the call graph for this function:

bool CPassive::GetConfiguration (  Configuration &  conf, Configuration &  current )  [virtual]

Definition at line 290 of file Passive.cpp. References CJoints::Distance(), CJoints::firstJoint, Inverse(), CJoints::jointNum, CJoints::links, VectorN::SetLength(), and solution. Here is the call graph for this function:

bool CPassive::GetConfiguration (  Configuration &  conf  )  [virtual]

Implements CJoints. Definition at line 203 of file Passive.cpp. References Inverse(), CJoints::jointNum, VectorN::SetLength(), solution, and solutionNum. Referenced by CRedundant::GetRandomConfiguration(). Here is the call graph for this function:

bool CPassive::GetRandomConfiguration (  Configuration &  conf  )  [virtual]

Definition at line 161 of file Passive.cpp. References CJoints::firstJoint, CJoints::jointNum, CJoints::links, and VectorN::SetLength(). Referenced by CRedundant::GetRandomConfiguration(). Here is the call graph for this function:

bool CPassive::Inverse (   )  [private]

Definition at line 877 of file Passive.cpp. References DH_A, DH_ALPHA, CJoints::firstJoint, DH_Link::GetJointType(), CJoints::jointNum, CJoints::links, Rad2Deg(), ResolveJoints(), and solution. Referenced by GetConfiguration(). Here is the call graph for this function:

bool CPassive::ResolveJoints (  DH_Parameter  type1, DH_Parameter  type2, DH_Parameter  type3 )  [private]

Definition at line 676 of file Passive.cpp. References desireEffect, DH_THETA, effectFrame, firstFrame, CJoints::firstJoint, DH_Link::GetA(), DH_Link::GetAlpha(), DH_Link::GetD(), DH_Link::GetFrame(), DH_Link::GetTheta(), Matrix4x4::Inverse(), IsZero, CJoints::links, Log(), M_PI, Rad2Deg(), DH_Link::SetJointVariable(), Solution(), and solution. Here is the call graph for this function:

bool CPassive::ResolveJoints (  DH_Parameter  type1, DH_Parameter  type2 )  [private]

Definition at line 372 of file Passive.cpp. References desireEffect, DH_THETA, effectFrame, firstFrame, CJoints::firstJoint, DH_Link::GetA(), DH_Link::GetAlpha(), DH_Link::GetD(), DH_Link::GetTheta(), Matrix4x4::Inverse(), IsZero, CJoints::links, M_PI, Solution(), and solution. Here is the call graph for this function:

bool CPassive::ResolveJoints (  DH_Parameter  type  )  [private]

Definition at line 353 of file Passive.cpp. Referenced by Inverse().

void CPassive::SetDesireEndEffect (  Frame &  frame  )  [virtual]

Definition at line 125 of file Passive.cpp. References desireEffect, and Matrix4x4::SetValues(). Referenced by CRedundant::GetConfigurationByActive(), and CRedundant::GetRandomConfiguration(). Here is the call graph for this function:

void CPassive::SetEndEffectFrame (  Frame &  frame  )  [virtual]

Definition at line 106 of file Passive.cpp. References effectFrame, and Matrix4x4::SetValues(). Here is the call graph for this function:

void CPassive::SetFirstFrame (  Frame &  frame  )  [virtual]

Definition at line 143 of file Passive.cpp. References firstFrame, and Matrix4x4::SetValues(). Here is the call graph for this function:

void CPassive::SetLastJoint (  unsigned int  joint  )  [virtual]

Reimplemented from CJoints. Definition at line 84 of file Passive.cpp. References CJoints::jointNum, MAX_SOLUTION, CJoints::SetLastJoint(), and solution. Referenced by CRedundant::SetPassiveLastJoint(). Here is the call graph for this function:

void CPassive::SetRobot (  R_OpenChain *  robot  )  [virtual]

Reimplemented from CJoints. Definition at line 69 of file Passive.cpp. References effectFrame, CJoints::frameManager, FrameManager::GetFrameRef(), R_OpenChain::GetToolFrame(), Matrix4x4::Identity(), CJoints::robot, CJoints::SetRobot(), and Matrix4x4::SetValues(). Referenced by CRedundant::SetCollisionDetector(). Here is the call graph for this function:

bool __inline CPassive::Solution (  Frame &  rotated, double &  solution )  [private]

Definition at line 1029 of file Passive.cpp. References ROUNDING_ERROR, and Matrix4x4::values.

bool __inline CPassive::Solution (  double  a, double  b, double  c, double  d, double &  solution )  [private]

Definition at line 1003 of file Passive.cpp.

bool __inline CPassive::Solution (  double  a, double  b, double  c, double  solution[2], int &  num )  [private]

Definition at line 958 of file Passive.cpp. References M_PI. Referenced by ResolveJoints().

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Member Data Documentation

Frame CPassive::desireEffect [protected]

Definition at line 45 of file Passive.h. Referenced by ResolveJoints(), and SetDesireEndEffect().

Frame CPassive::effectFrame [protected]

Definition at line 44 of file Passive.h. Referenced by ResolveJoints(), SetEndEffectFrame(), and SetRobot().

Frame CPassive::firstFrame [protected]

Definition at line 43 of file Passive.h. Referenced by ResolveJoints(), and SetFirstFrame().

Configuration* CPassive::solution [private]

Definition at line 48 of file Passive.h. Referenced by CPassive(), GetConfiguration(), Inverse(), ResolveJoints(), SetLastJoint(), and ~CPassive().

int CPassive::solutionNum [private]

Definition at line 49 of file Passive.h. Referenced by GetConfiguration().

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

• planners/inversekin/Passive.h
• planners/inversekin/Passive.cpp

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