VirtualRobot::PoseQualityMeasurement Class Reference

Inheritance diagram for VirtualRobot::PoseQualityMeasurement:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	PoseQualityMeasurement (VirtualRobot::RobotNodeSetPtr rns)
	~PoseQualityMeasurement ()
virtual float	getPoseQuality ()
virtual float	getPoseQuality (const Eigen::VectorXf &direction)
void	setVerbose (bool v)
VirtualRobot::RobotNodeSetPtr	getRNS ()
std::string	getName ()
	A string that identifies the type of pose quality measure. More...
virtual bool	consideringJointLimits ()
	Indicates if joint limits are considered. More...
virtual void	setObstacleDistanceVector (const Eigen::Vector3f &directionSurfaceToObstance)
virtual void	disableObstacleDistance ()
virtual PoseQualityMeasurementPtr	clone (RobotPtr newRobot)

Protected Attributes
std::string	name
VirtualRobot::RobotNodeSetPtr	rns
bool	considerObstacle
Eigen::Vector3f	obstacleDir
bool	verbose

Detailed Description

An interface definition for quality measurements of poses.

Constructor & Destructor Documentation

PoseQualityMeasurement()

VirtualRobot::PoseQualityMeasurement::PoseQualityMeasurement

(

VirtualRobot::RobotNodeSetPtr

rns

)

~PoseQualityMeasurement()

VirtualRobot::PoseQualityMeasurement::~PoseQualityMeasurement ( )

default

Member Function Documentation

clone()

PoseQualityMeasurementPtr VirtualRobot::PoseQualityMeasurement::clone ( RobotPtr  newRobot )

virtual

Reimplemented in VirtualRobot::PoseQualityExtendedManipulability, and VirtualRobot::PoseQualityManipulability.

consideringJointLimits()

bool VirtualRobot::PoseQualityMeasurement::consideringJointLimits ( )

virtual

Indicates if joint limits are considered.

Reimplemented in VirtualRobot::PoseQualityExtendedManipulability, and VirtualRobot::PoseQualityManipulability.

disableObstacleDistance()

void VirtualRobot::PoseQualityMeasurement::disableObstacleDistance ( )

virtual

getName()

std::string VirtualRobot::PoseQualityMeasurement::getName

(

)

A string that identifies the type of pose quality measure.

getPoseQuality() [1/2]

float VirtualRobot::PoseQualityMeasurement::getPoseQuality ( )

virtual

The main method for determining the pose quality. The current configuration of the corresponding RNS is analyzed and the quality is returned. See derived classes for details.

Reimplemented in VirtualRobot::PoseQualityExtendedManipulability, and VirtualRobot::PoseQualityManipulability.

getPoseQuality() [2/2]

float VirtualRobot::PoseQualityMeasurement::getPoseQuality ( const Eigen::VectorXf &  direction )

virtual

The quality is determined for a given Cartesian direction. The current configuration of the corresponding RNS is analyzed and the quality is returned. See derived classes for details.

Parameters

direction

A 3d or 6d vector with the Cartesian direction to investigate.

Reimplemented in VirtualRobot::PoseQualityExtendedManipulability, and VirtualRobot::PoseQualityManipulability.

getRNS()

VirtualRobot::RobotNodeSetPtr VirtualRobot::PoseQualityMeasurement::getRNS

(

)

Returns the RobotNodeSte that is used for computing the manipulability.

setObstacleDistanceVector()

void VirtualRobot::PoseQualityMeasurement::setObstacleDistanceVector ( const Eigen::Vector3f &  directionSurfaceToObstance )

virtual

Consider obstacles. Here, the shortest distance on the surface of the RNS to an obstacle is set (in TCP coords). This obstacle vector may be considered by any further calculations (depending on the implementation).

setVerbose()

void VirtualRobot::PoseQualityMeasurement::setVerbose

(

bool

v

)

Field Documentation

considerObstacle

bool VirtualRobot::PoseQualityMeasurement::considerObstacle

protected

name

std::string VirtualRobot::PoseQualityMeasurement::name

protected

obstacleDir

Eigen::Vector3f VirtualRobot::PoseQualityMeasurement::obstacleDir

protected

rns

VirtualRobot::RobotNodeSetPtr VirtualRobot::PoseQualityMeasurement::rns

protected

verbose

bool VirtualRobot::PoseQualityMeasurement::verbose

protected