robot::NumericKinematicEvaluator Class Reference

Inheritance diagram for robot::NumericKinematicEvaluator:

[legend]Collaboration diagram for robot::NumericKinematicEvaluator:

[legend]List of all members.

Public Member Functions
	NumericKinematicEvaluator ()
virtual String	className () const
virtual Object &	clone () const
virtual Matrix	getForwardKinematics (const KinematicChain &chain, const Vector &q) const
	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
	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
	computes the forward kinematics to return the joint origin locations
virtual array< base::Vector >	getLinkOrigins (const KinematicChain &chain, const base::Vector &q) const
	computes the forward kinematics to return the link origin locations
virtual bool	isSameKindAs (const ReferencedObject &) const
virtual bool	isSameKindAs (const Object &) const
void	reference () const
bool	unreference () const
const int	referenceCount () const
void	enableOnUnreferenceCall (bool enabled)
virtual void	onUnreference () const
Protected Member Functions
	NumericKinematicEvaluator (const NumericKinematicEvaluator &nke)
	copy constructor
Protected Attributes
int	_refCount
bool	onUnreferenceEnabled

---

Detailed Description

A KinematicEvaluator that uses vector cross products to evaluate the Jacobian and forward kinematics matrices numerically

Definition at line 41 of file NumericKinematicEvaluator.

---

Constructor & Destructor Documentation

robot::NumericKinematicEvaluator::NumericKinematicEvaluator (   )

Referenced by clone().

robot::NumericKinematicEvaluator::NumericKinematicEvaluator (  const NumericKinematicEvaluator &  nke  )  [inline, protected]

copy constructor Definition at line 58 of file NumericKinematicEvaluator.

---

Member Function Documentation

virtual String robot::NumericKinematicEvaluator::className (   )  const [inline, virtual]

return the name of the object's class type. Must be defined by derived classes. Implements base::Object. Definition at line 46 of file NumericKinematicEvaluator.

virtual Object& robot::NumericKinematicEvaluator::clone (   )  const [inline, virtual]

Definition at line 47 of file NumericKinematicEvaluator. References NewObj, and NumericKinematicEvaluator().

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::NumericKinematicEvaluator::getForwardKinematics (  const KinematicChain &  chain, const Vector &  q )  const [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 Implements robot::KinematicEvaluator.

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

virtual array<base::Vector> robot::NumericKinematicEvaluator::getJointOrigins (  const KinematicChain &  chain, const base::Vector &  q )  const [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() ) Implements robot::KinematicEvaluator.

virtual array<base::Vector> robot::NumericKinematicEvaluator::getLinkOrigins (  const KinematicChain &  chain, const base::Vector &  q )  const [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() ) Implements robot::KinematicEvaluator.

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:

• robot/NumericKinematicEvaluator

---