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robot::KinematicEvaluator Class Reference

Inheritance diagram for robot::KinematicEvaluator:

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Collaboration diagram for robot::KinematicEvaluator:

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List of all members.

Public Member Functions

virtual Matrix getForwardKinematics (const KinematicChain &chain, const Vector &q) const=0
 get the forward kinematics transform for the given chain, with joint parameter values q

virtual Matrix getJacobian (const KinematicChain &chain, const Vector &q, bool includeOrientation=true) const=0
 get the Jacobian matrix for the given chain, with joint parameter values q

virtual array< base::Vector > getJointOrigins (const KinematicChain &chain, const base::Vector &q) const=0
 computes the forward kinematics to return the joint origin locations

virtual array< base::Vector > getLinkOrigins (const KinematicChain &chain, const base::Vector &q) const=0
 computes the forward kinematics to return the link origin locations

virtual bool isSameKindAs (const ReferencedObject &) const
virtual bool isSameKindAs (const Object &) const
virtual String className () const=0
void reference () const
bool unreference () const
const int referenceCount () const
void enableOnUnreferenceCall (bool enabled)
virtual void onUnreference () const

Protected Attributes

int _refCount
bool onUnreferenceEnabled

Detailed Description

An abstract interface for forward and inverse kinematic expression evaluation. Typically, a single instance will be created per application, but the user is free to create multiple instances Implementations may cache internal state to optimize evaluations.

Definition at line 49 of file KinematicEvaluator.

Member Function Documentation

virtual String base::Object::className (   )  const [pure virtual, inherited]
 

return the name of the object's class type. Must be defined by derived classes.

Implemented in base::Application, base::BinarySerializer, base::Cache, base::CacheDirectory, base::CacheFile, base::ConstantExpression, base::CosExpression, base::DifferenceExpression, base::Directory, base::Expression, base::Externalizer, base::File, base::LineSegPathRep, base::LineSegTrajectoryRep, base::Math, base::NegateExpression, base::ParametricPathRep, base::ParametricTrajectoryRep, base::Path, base::PathComponent, base::PathName, base::ProductExpression, base::QuotientExpression, base::SimpleXMLSerializer, base::SinExpression, base::StdFileSystem, base::SumExpression, base::Time, base::Trajectory, base::Universe, base::VariableExpression, base::VDirectory, base::WaypointPathRep, base::WaypointTrajectoryRep, base::World, gfx::IndexedPoint3Array, gfx::OSGWorld, gfx::TriangleIterator, gfx::VisualPath, gfx::VisualTriangles, gfx::VisualTriangles::TriangleArrayIteratorState, physics::Body, physics::Box, physics::Capsule, physics::CollidableGroup, physics::CollisionModel::ModelState, physics::CollisionState, physics::Cone, physics::Cylinder, physics::DynamicSpatial, physics::GJKCollisionDetector, physics::GJKCollisionDetector::GJKCollisionState, physics::GJKCollisionModel, physics::HeightField, physics::LODTerrain, physics::MassProperties, physics::Material, physics::NullCollisionResponseHandler, physics::OBBCollisionDetector, physics::OBBCollisionDetector::OBBCollisionState, physics::OBBCollisionModel, physics::ODEBallJoint, physics::ODECollidableBody, physics::ODECollidableBody::BodyState, physics::ODECollidableGroup, physics::ODECollisionCuller, physics::ODECollisionDetector, physics::ODECollisionDetector::ODECollisionState, physics::ODECollisionModel, physics::ODECollisionResponseHandler, physics::ODEConstraintGroup, physics::ODEContactConstraint, physics::ODEDoubleHingeJoint, physics::ODEFixedConstraint, physics::ODEHingeJoint, physics::ODEMotor, physics::ODESliderJoint, physics::ODESolid, physics::ODESolidConnectedCollidableBody, physics::ODESolidSystem, physics::ODEUniversalJoint, physics::Polyhedron, physics::Polyhedron::Vertex, physics::Polyhedron::Edge, physics::Polyhedron::Polygon, physics::SimpleCollisionCuller, physics::SimpleTerrain, physics::Solid, physics::SOLIDCollisionDetector, physics::SOLIDCollisionDetector::SOLIDCollisionState, physics::SOLIDCollisionModel, physics::SolidCollisionResponseHandler, physics::SpatialGroup, physics::SpatialTransform, physics::Sphere, physics::Torus, physics::VisualDebugUtil, robot::AggregateControlInterface, robot::control::ControllableAdaptor, robot::control::ControllableAdaptor::AdaptorControlInterface, robot::control::kinematics::AnalyticLagrangianFSBetaOptimizer, robot::control::kinematics::AnalyticLagrangianNullSpaceBetaOptimizer, robot::control::kinematics::BetaFormConstraints::BetaFormConstraint, robot::control::kinematics::BetaFormConstraints, robot::control::kinematics::IKOR, robot::control::kinematics::IKOR::JointLimitBetaConstraint, robot::control::kinematics::IKOR::PushAwayBetaConstraint, robot::control::kinematics::IKOR::RankLossBetaConstraint, robot::control::kinematics::IKORController, robot::control::kinematics::IKORController::EEPositionControlInterface, robot::control::kinematics::IKORController::LinkPositionsControlInterface, robot::control::kinematics::IKORFullSpaceSolver, robot::control::kinematics::LeastNormIKSolver, robot::control::kinematics::MPPseudoInvSolver, robot::control::kinematics::OldIKOR, robot::control::kinematics::ReferenceOpVectorFormObjective, robot::control::kinematics::SVDFullSpaceSolver, robot::control::ManipulatorPIDPositionController, robot::control::ManipulatorPIDPositionController::PositionInterface, robot::JFKengine, robot::KinematicChain::Link, robot::KinematicChain, robot::ManipulatorDescription, robot::ManipulatorJointTrajectory, robot::NumericKinematicEvaluator, robot::PlatformDescription, robot::RobotDescription, robot::sim::BasicEnvironment, robot::sim::BasicEnvironment::Tool, robot::sim::BasicEnvironment::Obstacle, robot::sim::Environment, robot::sim::IKORTest, robot::sim::IKORTest::Test, robot::sim::IKORTester, robot::sim::SimulatedBasicEnvironment, robot::sim::SimulatedKinematicChain::ProximityCollisionResponseHandler, robot::sim::SimulatedManipulatorDescription, robot::sim::SimulatedPlatform, robot::sim::SimulatedRobot, robot::sim::SimulatedRobot::ManipulatorControlInterface, robot::sim::SimulatedRobot::ToolControlInterface, robot::sim::SimulatedRobot::PlatformControlInterface, robot::sim::SimulatedRobot::ProximitySensorInterface, robot::sim::SimulatedRobotDescription, robot::sim::SimulatedSerialManipulator, robot::sim::SimulatedTool, robot::sim::TestBasicEnvironment, robot::sim::VisualIKORTest, robot::TestRobot, robot::TestRobot::ManipulatorControlInterface, robot::TestRobot::ToolControlInterface, robot::TestRobot::PlatformControlInterface, robot::TestRobot::ProximitySensorInterface, and robot::ToolDescription.

void base::Referenced::enableOnUnreferenceCall (  bool  enabled  )  [inline, inherited]
 

If enabled, each call to unreference() will also call virtual method onUnreference()

Definition at line 115 of file Referenced.

References base::Referenced::onUnreferenceEnabled.

virtual Matrix robot::KinematicEvaluator::getForwardKinematics (  const KinematicChain &  chain,
const Vector &  q
)  const [pure virtual]
 

get the forward kinematics transform for the given chain, with joint parameter values q

Parameters:
chain a description of a chain of links
q array of Reals; q[0] is the value of the variable for the first dof
Returns:
a 4x4 homogeneous transform matrix from the first link to the end-effector

Implemented in robot::JFKengine, and robot::NumericKinematicEvaluator.

virtual Matrix robot::KinematicEvaluator::getJacobian (  const KinematicChain &  chain,
const Vector &  q,
bool  includeOrientation = true
)  const [pure virtual]
 

get the Jacobian matrix for the given chain, with joint parameter values q

Parameters:
chain a description of a chain of links
q array of Reals; q[0] is the value of the variable for the first dof
includeOrientation include orientation components in the Jacobian if true
Returns:
a [6|3] x N Jacobian matrix, where N=chain.dof and the number of rows will be 6 unless includeOrientation is false.

Implemented in robot::JFKengine, and robot::NumericKinematicEvaluator.

virtual array<base::Vector> robot::KinematicEvaluator::getJointOrigins (  const KinematicChain &  chain,
const base::Vector &  q
)  const [pure virtual]
 

computes the forward kinematics to return the joint origin locations

Parameters:
chain a description of a chain of links
q array of Reals; q[0] is the value of the variable for the first dof
Returns:
array of [x,y,z] Vectors that give the location of each joint's origin ( size()==chain.dof() )

Implemented in robot::JFKengine, and robot::NumericKinematicEvaluator.

virtual array<base::Vector> robot::KinematicEvaluator::getLinkOrigins (  const KinematicChain &  chain,
const base::Vector &  q
)  const [pure virtual]
 

computes the forward kinematics to return the link origin locations

Parameters:
chain a description of a chain of links
q array of Reals; q[0] is the value of the variable for the first dof
Returns:
array of [x,y,z] Vectors that give the location of each link's origin ( size()==chain.size() )

Implemented in robot::JFKengine, and robot::NumericKinematicEvaluator.

virtual bool base::Object::isSameKindAs (  const Object &   )  const [inline, virtual, inherited]
 

Definition at line 47 of file Object.

virtual bool base::ReferencedObject::isSameKindAs (  const ReferencedObject &   )  const [inline, virtual, inherited]
 

Definition at line 52 of file ReferencedObject.

virtual void base::Referenced::onUnreference (   )  const [inline, virtual, inherited]
 

Called by unreference() if enabled via enableOnUnreferenceCall(true). Typically overridden in subclasses that wish to know about unreference() calls - for example to handle manually breaking cyclic references

Reimplemented in robot::control::ControllableAdaptor::AdaptorControlInterface, and robot::control::ControllableAdaptor.

Definition at line 121 of file Referenced.

Referenced by base::Referenced::unreference().

void base::Referenced::reference (   )  const [inline, inherited]
 

Increment the reference count by one, indicating that this object has another pointer which is referencing it.

Definition at line 65 of file Referenced.

References base::Referenced::_refCount.

const int base::Referenced::referenceCount (   )  const [inline, inherited]
 

Return the number pointers currently referencing this object.

Definition at line 112 of file Referenced.

References base::Referenced::_refCount.

Referenced by robot::control::ControllableAdaptor::AdaptorControlInterface::onUnreference().

bool base::Referenced::unreference (   )  const [inline, inherited]
 

Decrement the reference count by one, indicating that a pointer to this object is referencing it. If the refence count goes to zero, it is assumed that this object is nolonger referenced and is automatically deleted.

Definition at line 81 of file Referenced.

References base::Referenced::_refCount, Exception, base::Referenced::onUnreference(), and base::Referenced::onUnreferenceEnabled.

Member Data Documentation

int base::Referenced::_refCount [mutable, protected, inherited]
 

Definition at line 136 of file Referenced.

Referenced by base::Referenced::reference(), base::Referenced::referenceCount(), base::Referenced::Referenced(), base::Referenced::unreference(), and base::Referenced::~Referenced().

bool base::Referenced::onUnreferenceEnabled [protected, inherited]
 

Definition at line 137 of file Referenced.

Referenced by base::Referenced::enableOnUnreferenceCall(), base::Referenced::Referenced(), and base::Referenced::unreference().

The documentation for this class was generated from the following file:
Generated on Thu Jul 29 16:41:55 2004 for OpenSim by doxygen 1.3.6