Motion Planning Kernel: planners/inversekin/Passive.h Source File

00001 
00002 //
00003 //Contents: Class CPassive
00004 // 
00006 
00007 #ifndef _Passive_Header_
00008 #define _Passive_Header_
00009 
00010 #include "Joints.h"
00011 #include "Kinematics\DH_Link.h"
00012 #define MAX_SOLUTION  4
00013 
00014 class CPassive:public CJoints
00015 {
00016 public:
00017         CPassive();
00018         CPassive(FrameManager* frameManager);
00019         virtual ~CPassive();
00020         
00021         virtual void SetRobot(R_OpenChain *robot);
00022         virtual void SetLastJoint(unsigned int joint);
00023         //Set end-effector frame w.r.t wrist frame
00024         //virtual void SetEndEffectFrame(unsigned char frame);
00025         virtual void SetEndEffectFrame(Frame &frame);
00026         //Set desire end-effector frame w.r.t base frame
00027         virtual void SetDesireEndEffect(Frame &frame);
00028         //Set the base frame
00029         virtual void SetFirstFrame(Frame &frame);
00030         
00031         //Get random passive joint variables
00032         virtual bool GetRandomConfiguration(Configuration &conf);
00033         //Get passive joint variables satisfying given end-effector pose
00034         virtual bool GetConfiguration(Configuration &conf);
00035         //Get passive joint variables satisfying given end-effector pose, and
00036         //closed to "current" configuration
00037         virtual bool GetConfiguration(Configuration &conf, Configuration &current);
00038         //Get passive joint variable in the neighbouring area of configuration "current"
00039         virtual bool GetConfiguration(Configuration &conf, Configuration &current, double dist);
00040 
00041 protected:
00042         //unsigned int effectFrameIndex;
00043         Frame firstFrame;
00044         Frame effectFrame;
00045         Frame desireEffect;
00046 
00047 private:
00048         Configuration *solution;
00049         int solutionNum;
00050         bool ResolveJoints(DH_Parameter type);
00051         bool ResolveJoints(DH_Parameter type1, DH_Parameter type2);
00052         bool ResolveJoints(DH_Parameter type1, DH_Parameter type2, DH_Parameter type3);
00053         bool Inverse();
00054         bool __inline Solution(double a, double b, double c, double solution[2], int &num);
00055         bool __inline Solution(double a, double b, double c, double d, double &solution);
00056         bool __inline Solution(Frame &rotated, double &solution);
00057 };
00058 
00059 
00060 #endif