BreakAwayDOF Class Reference
#include <dof.h>
List of all members.
Public Member Functions |
| virtual bool | accumulateMove (double q1, double *jointVals, int *stoppedJoints) |
| | Takes breakaway into account.
|
| | BreakAwayDOF (BreakAwayDOF *original) |
| | BreakAwayDOF () |
| virtual bool | computeStaticJointTorques (double *jointTorques, double dofForce=-1) |
| | Applies breakaway torques.
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| virtual void | getJointValues (double *jointVals) const |
| | Takes breakaway into account.
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| virtual double | getSaveVal () const |
| | Returns the breakaway value rather than the current value.
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| Type | getType () const |
| | Returns the type of this DOF.
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| void | initDOF (Robot *myRobot, const std::list< Joint * > &jList) |
| | Initializes breakaway flags.
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| virtual bool | readFromStream (QTextStream &stream) |
| | Also reads in the breakaway status.
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| virtual bool | readParametersFromXml (const TiXmlElement *root) |
| | Also reads in the breakaway torque level.
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| virtual void | reset () |
| | Clears all breakaway flags, re-enages all joints.
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| virtual void | updateFromJointValues (const double *jointVals=NULL) |
| | Looks at a joint that's not in breakaway.
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| virtual void | updateVal (double q1) |
| | Sets breakaway values if breakaway has occured.
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| virtual bool | writeToStream (QTextStream &stream) |
| | Also writes the breakaway status.
|
| | ~BreakAwayDOF () |
Private Attributes |
| double | mBreakAwayTorque |
| | The level of torque that a breakaway joint applies before disengaging.
|
| double * | mBreakAwayValues |
| | Saves the breakaway values for disengaged joints.
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| int * | mInBreakAway |
| | Marks which joints controlled by this DOF are disengaged.
|
Detailed Description
The BreakAwayDOF is a model of the Barrett Hand finger DOFs. If a proximal joint is stopped by contact, the transmission breaks away from that joint and distal joints continue to close. However, a joint that has been disengaged is only re-engaged when the DOF goes back to the value that is had when the joint was disengaged.
Dynamically, breakaway happens when a torque limit on breakaway joints is exceeded. We take that into account in the static joint torque computation. However, for the moment, the dynamics engine does not take that into account.
This class assumes that breakaway only function in one direction, towards the max value of the dof. In real life this is true, as the barrett hand disengages finger joints only when the finger is closing. In simulation, this also helps because it removes any ambiguity when you have to decide what the dof value is based only on joint values.
Definition at line 328 of file dof.h.
Constructor & Destructor Documentation
| BreakAwayDOF::BreakAwayDOF |
( |
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) |
[inline] |
| BreakAwayDOF::BreakAwayDOF |
( |
BreakAwayDOF * |
original |
) |
[inline] |
| BreakAwayDOF::~BreakAwayDOF |
( |
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) |
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Member Function Documentation
| bool BreakAwayDOF::accumulateMove |
( |
double |
q1, |
|
|
double * |
jointVals, |
|
|
int * |
stoppedJoints | |
|
) |
| | [virtual] |
Takes breakaway into account.
If proximal joints are stopped or in breakaway, distal joints continue to close when the dof is moving in the positive direction.
Reimplemented from RigidDOF.
Definition at line 544 of file dof.cpp.
| bool BreakAwayDOF::computeStaticJointTorques |
( |
double * |
jointTorques, |
|
|
double |
dofForce = -1 | |
|
) |
| | [virtual] |
Applies breakaway torques.
We assume that any joint that is in breakaway is applying exactly the breakaway torque. This is probably not accurate, as after breakaway occurs, the joint is disengaged. But it is accurate in the sense that no joint can apply more than the breakaway torque.
Reimplemented from RigidDOF.
Definition at line 720 of file dof.cpp.
| void BreakAwayDOF::getJointValues |
( |
double * |
jointVals |
) |
const [virtual] |
Takes breakaway into account.
Each joint is either in breakaway, or connected to the dof value by it's static ratio.
Reimplemented from RigidDOF.
Definition at line 526 of file dof.cpp.
| double BreakAwayDOF::getSaveVal |
( |
|
) |
const [virtual] |
Returns the breakaway value rather than the current value.
Returns the smallest breakaway value of all the joints of this DOF.
Reimplemented from DOF.
Definition at line 664 of file dof.cpp.
| Type BreakAwayDOF::getType |
( |
|
) |
const [inline, virtual] |
Returns the type of this DOF.
Reimplemented from RigidDOF.
Definition at line 339 of file dof.h.
| void BreakAwayDOF::initDOF |
( |
Robot * |
myRobot, |
|
|
const std::list< Joint * > & |
jList | |
|
) |
| | [virtual] |
Initializes breakaway flags.
Reimplemented from DOF.
Definition at line 508 of file dof.cpp.
| bool BreakAwayDOF::readFromStream |
( |
QTextStream & |
stream |
) |
[virtual] |
Also reads in the breakaway status.
Reimplemented from DOF.
Definition at line 679 of file dof.cpp.
| bool BreakAwayDOF::readParametersFromXml |
( |
const TiXmlElement * |
root |
) |
[virtual] |
Also reads in the breakaway torque level.
Reimplemented from DOF.
Definition at line 700 of file dof.cpp.
| void BreakAwayDOF::reset |
( |
|
) |
[virtual] |
Clears all breakaway flags, re-enages all joints.
Clears all the breakaway flags, effectively re-engaging all joints.
Reimplemented from RigidDOF.
Definition at line 638 of file dof.cpp.
| void BreakAwayDOF::updateFromJointValues |
( |
const double * |
jointVals = NULL |
) |
[virtual] |
Looks at a joint that's not in breakaway.
For this type of dof, the value of any joint that is not in breakaway can give us the value of the dof.
Reimplemented from RigidDOF.
Definition at line 616 of file dof.cpp.
| void BreakAwayDOF::updateVal |
( |
double |
q1 |
) |
[virtual] |
Sets breakaway values if breakaway has occured.
Reimplemented from RigidDOF.
Definition at line 590 of file dof.cpp.
| bool BreakAwayDOF::writeToStream |
( |
QTextStream & |
stream |
) |
[virtual] |
Also writes the breakaway status.
Reimplemented from DOF.
Definition at line 647 of file dof.cpp.
Member Data Documentation
The level of torque that a breakaway joint applies before disengaging.
Definition at line 336 of file dof.h.
Saves the breakaway values for disengaged joints.
Definition at line 334 of file dof.h.
Marks which joints controlled by this DOF are disengaged.
Definition at line 332 of file dof.h.
The documentation for this class was generated from the following files:
- /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/dof.h
- /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/dof.cpp
