ArmPlanner Class Reference

Inheritance diagram for ArmPlanner:

[legend]

Collaboration diagram for ArmPlanner:

[legend]

List of all members.

Public Member Functions
	ArmPlanner (OptionManager &mgr, const std::string &descrName="ArmPlanner", const std::string &tagName="ArmPlanner", nub::soft_ref< ArmController > realControler=nub::soft_ref< ArmController >(), nub::soft_ref< ArmController > controler=nub::soft_ref< ArmController >(), nub::soft_ref< ArmSim > armSim=nub::soft_ref< ArmSim >())
bool	move (double *desire, double errThres)
	Move the arm to desire point with the error closer than errThres.
bool	moveRel (double x, double y, double z, double errThres)
bool	gradient (double *desire, double errThres)
	Compute the gradient to get the next movement direction and distance.
bool	gibbsSampling (double *desire, double errThres)
	Useing the gibbs sampling to approach the desire point.
bool	gibbsControl (double *desire, double d)
	Useing the line segment approaching between desire and arm.
void	moveMotor (int motor, int move)
	Move ArmSim motor.
ArmController::JointPos	getIK2 (const double *desiredPos)
void	getFK (double *endPos)
ArmController::JointPos	calcGradient (const double *desiredPos)
void	minJerk (double *desire, double *nextPoint, double time)
void	updateDataImg ()
const Image< PixRGB< byte > > *	getImagePtr ()
ArmController::JointPos	sim2real (ArmController::JointPos armSimJointPos)

---

Detailed Description

Definition at line 60 of file ArmPlanner.H.

---

Member Function Documentation

bool ArmPlanner::gibbsControl	(	double *	desire,
		double	d
	)

Useing the line segment approaching between desire and arm.

Definition at line 298 of file ArmPlanner.C.

References distance(), and gradient().

bool ArmPlanner::gibbsSampling	(	double *	desire,
		double	errThres
	)

Useing the gibbs sampling to approach the desire point.

Definition at line 239 of file ArmPlanner.C.

References move(), moveMotor(), and randomUpToIncluding().

bool ArmPlanner::gradient	(	double *	desire,
		double	errThres
	)

Compute the gradient to get the next movement direction and distance.

Definition at line 325 of file ArmPlanner.C.

Referenced by gibbsControl().

bool ArmPlanner::move	(	double *	desire,
		double	errThres
	)

Move the arm to desire point with the error closer than errThres.

Definition at line 427 of file ArmPlanner.C.

References CtrlPolicy::setCurrentPos().

Referenced by gibbsSampling().

void ArmPlanner::moveMotor	(	int	motor,
		int	move
	)

Move ArmSim motor.

Definition at line 276 of file ArmPlanner.C.

Referenced by gibbsSampling().

---

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

• src/ArmControl/ArmPlanner.H
• src/ArmControl/ArmPlanner.C