ICR::OWS Class Reference

Holds a list of ICR::WrenchCone pointers describing the Object Wrench Space of the parent object. More...

#include <ows.h>

List of all members.

Public Member Functions
void	divideByLambda ()
LimitSurface const *	getLimitSurface () const
uint	getNumWrenchCones () const
std::string	getParentObjectName () const
WrenchCone const *	getWrenchCone (uint id) const
void	init (TargetObject const &obj, LimitSurface const &lim_surf)
OWS &	operator= (OWS const &src)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	OWS ()
	OWS (OWS const &src)
void	scale (double scale)
	~OWS ()
Private Member Functions
void	addWrenchCone (uint id, Eigen::Vector3d const *const cp_vtx, Eigen::Vector3d const *const cp_vtx_normal)
void	updateLambda (Eigen::Vector3d const *const cp_vtx)
Private Attributes
bool	div_by_lambda_
bool	initialized_
double	lambda_
LimitSurface	lim_surf_
uint	num_wc_
std::string	parent_obj_name_
WrenchConeList	wrench_cones_
Friends
std::ostream &	operator<< (std::ostream &stream, OWS const &ows)

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Detailed Description

Holds a list of ICR::WrenchCone pointers describing the Object Wrench Space of the parent object.

Definition at line 17 of file ows.h.

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Constructor & Destructor Documentation

ICR::OWS::OWS

(

)

Definition at line 13 of file ows.cpp.

ICR::OWS::OWS

(

OWS const &

src

)

Definition at line 15 of file ows.cpp.

ICR::OWS::~OWS

(

)

Definition at line 45 of file ows.cpp.

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Member Function Documentation

void ICR::OWS::addWrenchCone	(	uint	id,
		Eigen::Vector3d const *const	cp_vtx,
		Eigen::Vector3d const *const	cp_vtx_normal
	)		[private]

Creates a new wrench cone by transforming the local wrench cone member of ICR::OWS::lim_surf_ according to "Murray, Li & Sastry - A Mathematical Introduction to Robotic Manipulation; pp. 218" and pushes it onto ICR::OWS::wrench_cones_

Definition at line 57 of file ows.cpp.

void ICR::OWS::divideByLambda

(

)

Definition at line 142 of file ows.cpp.

LimitSurface const * ICR::OWS::getLimitSurface

(

)

const

Definition at line 134 of file ows.cpp.

uint ICR::OWS::getNumWrenchCones

(

)

const

Definition at line 130 of file ows.cpp.

std::string ICR::OWS::getParentObjectName

(

)

const

Definition at line 153 of file ows.cpp.

WrenchCone const * ICR::OWS::getWrenchCone

(

uint

id

)

const

Definition at line 132 of file ows.cpp.

void ICR::OWS::init	(	TargetObject const &	obj,
		LimitSurface const &	lim_surf
	)

Definition at line 86 of file ows.cpp.

OWS & ICR::OWS::operator=

(

OWS const &

src

)

Definition at line 18 of file ows.cpp.

void ICR::OWS::scale

(

double

scale

)

Definition at line 136 of file ows.cpp.

void ICR::OWS::updateLambda

(

Eigen::Vector3d const *const

cp_vtx

)

[private]

Definition at line 51 of file ows.cpp.

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Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	stream,
		OWS const &	ows
	)		[friend]

Definition at line 33 of file ows.cpp.

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Member Data Documentation

bool ICR::OWS::div_by_lambda_ [private]

Definition at line 24 of file ows.h.

bool ICR::OWS::initialized_ [private]

Definition at line 23 of file ows.h.

double ICR::OWS::lambda_ [private]

Definition at line 26 of file ows.h.

LimitSurface ICR::OWS::lim_surf_ [private]

Definition at line 25 of file ows.h.

uint ICR::OWS::num_wc_ [private]

Definition at line 27 of file ows.h.

std::string ICR::OWS::parent_obj_name_ [private]

Definition at line 22 of file ows.h.

WrenchConeList ICR::OWS::wrench_cones_ [private]

Definition at line 21 of file ows.h.

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

• ows.h
• ows.cpp