CircularPiHParameterization Class Reference

The parameterization used for the CircularPiHControlStrategy. More...

#include <CircularPiHParameterization.hpp>

Inherits AssemblyParameterization.

Public Types
typedef rw::core::Ptr< CircularPiHParameterization >	Ptr
	smart pointer type to this class
Public Types inherited from AssemblyParameterization
typedef rw::core::Ptr< AssemblyParameterization >	Ptr
	smart pointer type to this class

Public Member Functions
	CircularPiHParameterization (const rw::core::Ptr< rw::core::PropertyMap > map)
	Construct a new parameterization from a PropertyMap. More...
	CircularPiHParameterization (double holeRadius, double holeLength, double pegRadius, double pegLength, double angle=0, double distA=0, double distB=0)
	Construct a new parameterization with the given values. More...
virtual	~CircularPiHParameterization ()
	Destructor.
rw::core::Ptr< rw::core::PropertyMap >	toPropertyMap () const
	Store the parameterization in a PropertyMap. More...
AssemblyParameterization::Ptr	clone () const
	Clone the parameterization. More...
AssemblyParameterization::Ptr	make (rw::core::Ptr< rw::core::PropertyMap > pmap) const
	Construct a parameterization of same type from a PropertyMap. More...
void	reset (rw::core::Ptr< rw::core::PropertyMap > pmap)
	Reset the parameters by taking new parameters from a PropertyMap. More...
Public Member Functions inherited from AssemblyParameterization
	AssemblyParameterization ()
	Construct an empty parameterization.
	AssemblyParameterization (rw::core::Ptr< rw::core::PropertyMap > pmap)
	Construct a parameterization from a PropertyMap. More...
virtual	~AssemblyParameterization ()
	Destructor.

Public Attributes
Object dimensions
double	holeRadius
	Radius of the hole (should be more than pegRadius).
double	holeLength
	Length of the hole.
double	pegRadius
	Radius of the peg (should be less than holeRadius).
double	pegLength
	Length of the peg.
Approach parameters
double	angle
	The angle between the peg axis and the hole axis.
double	distanceA
	The distance of the deepest point of the peg to the hole axis in the direction of the peg axis.
double	distanceB
	The distance of the deepest point of the peg to the hole axis in perpendicular to the peg axis.

Additional Inherited Members
Protected Attributes inherited from AssemblyParameterization
rw::core::Ptr< rw::core::PropertyMap >	_pmap
	The PropertyMap.

Detailed Description

The parameterization used for the CircularPiHControlStrategy.

The parameterization includes the dimensions of a peg and hole, and three parameters determining the approach of the peg.

Constructor & Destructor Documentation

CircularPiHParameterization() [1/2]

CircularPiHParameterization

(

const rw::core::Ptr< rw::core::PropertyMap >

map

)

Construct a new parameterization from a PropertyMap.

Parameters

map	[in] the PropertyMap to get the parameters from.

CircularPiHParameterization() [2/2]

CircularPiHParameterization	(	double	holeRadius,
		double	holeLength,
		double	pegRadius,
		double	pegLength,
		double	angle = 0,
		double	distA = 0,
		double	distB = 0
	)

Construct a new parameterization with the given values.

Parameters

holeRadius	[in] radius of the hole.
holeLength	[in] length of the hole.
pegRadius	[in] radius of the peg.
pegLength	[in] length of the peg.
angle	[in] the angle between the peg axis and the hole axis (default is 0).
distA	[in] the distance of the deepest point of the peg to the hole axis in the direction of the peg axis (default is 0).
distB	[in] the distance of the deepest point of the peg to the hole axis in perpendicular to the peg axis (default is 0).

Member Function Documentation

clone()

AssemblyParameterization::Ptr clone ( ) const

virtual

Clone the parameterization.

Returns

a pointer to the new parameterization.

Reimplemented from AssemblyParameterization.

make()

AssemblyParameterization::Ptr make ( rw::core::Ptr< rw::core::PropertyMap >  pmap ) const

virtual

Construct a parameterization of same type from a PropertyMap.

Parameters

pmap	[in] a PropertyMap.

Reimplemented from AssemblyParameterization.

reset()

void reset ( rw::core::Ptr< rw::core::PropertyMap >  pmap )

virtual

Reset the parameters by taking new parameters from a PropertyMap.

Parameters

pmap	[in] a PropertyMap.

Reimplemented from AssemblyParameterization.

toPropertyMap()

rw::core::Ptr<rw::core::PropertyMap> toPropertyMap ( ) const

virtual

Store the parameterization in a PropertyMap.

Returns

a pointer to a PropertyMap, or NULL if parameterization is empty.

Reimplemented from AssemblyParameterization.

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

• CircularPiHParameterization.hpp