PiHParameterization Class Reference

Parameterization of a Peg in Hole action, used by the PiHStrategy. More...

#include <PiHParameterization.hpp>

Inherits AssemblyParameterization.

Public Types
typedef rw::core::Ptr< PiHParameterization >	Ptr
	Smart pointer type for parameterization.
Public Types inherited from AssemblyParameterization
typedef rw::core::Ptr< AssemblyParameterization >	Ptr
	smart pointer type to this class

Public Member Functions
	PiHParameterization (rw::core::Ptr< rw::core::PropertyMap > pmap)
	Construct parameterization from PropertyMap. More...
	PiHParameterization (double holeRadius, double pegRadius, double theta, double phi, double distX, double distY, double distTContact, double x0)
	Construct parameterization with values given directly with SI units. More...
virtual	~PiHParameterization ()
	Destructor.
virtual rw::core::Ptr< rw::core::PropertyMap >	toPropertyMap () const
	Store the parameterization in a PropertyMap. More...
virtual AssemblyParameterization::Ptr	clone () const
	Clone the parameterization. More...
virtual 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.
virtual AssemblyParameterization::Ptr	make (rw::core::Ptr< rw::core::PropertyMap > pmap) const
	Construct a parameterization of same type from a PropertyMap. More...

Public Attributes
double	holeRadius
	Radius of the hole.
double	pegRadius
	Radius of the peg.
double	theta
	The angle, \(\theta\), of the peg relative to the hole. More...
double	phi
	The approach angle, \(\phi\), giving the direction the peg approaches the hole.
double	distX
	The distance, x, from the hole to the center of the peg end. Distance is in direction parallel to the hole axis.
double	distY
	The distance, y, from the peg/hole edge to the rotation point.
double	distTContact
	The approach distance, d, in meters.
double	x0
	The insertion depth, \(x_0\), in meters.

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

Detailed Description

Parameterization of a Peg in Hole action, used by the PiHStrategy.

The insertion strategy with parameters shown. Left

image shows the initial approach pose, second image shows the linear approach motion, third image shows the angular motion, and the right image shows the final linear insertion."

The strategy is parameterized using the following parameters:

| Parameter | Description | Units | Units in PropertyMap | | --------------— | -------------------------------------------------------------------------------— | ----------------— | -----------------— | | \(r_{hole}\) | Radius of the hole. | m | mm | | \(r_{peg}\) | Radius of the peg. | m | mm | | \(\theta\) | The angle between the peg and hole axes. Zero corresponds to a straight insertion. | rad | rad | | \(\phi\) | The approach angle. | rad | rad | | x | Height of the peg end point above the hole. | m | mm | | y | The distance to the rotation point. | m | mm | | d | The approach distance. | m | mm | | \(x_0\) | The insertion depth. | m | mm |

The strategy and parameters are also described in the article [1].

[1]: Lars Carøe Sørensen, Jacob Pørksen Buch, Henrik Gordon Petersen and Dirk Kraft, Online Action Learning using Kernel Density Estimation for Quick Discovery of Good Parameters for Peg-in-Hole Insertion, In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2016), Volume 2, pages 166-177

Constructor & Destructor Documentation

PiHParameterization() [1/2]

PiHParameterization

(

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

pmap

)

Construct parameterization from PropertyMap.

Parameters

pmap	[in] a PropertyMap with the parameterization given as properties with user-friendly (non-SI) units.

PiHParameterization() [2/2]

PiHParameterization	(	double	holeRadius,
		double	pegRadius,
		double	theta,
		double	phi,
		double	distX,
		double	distY,
		double	distTContact,
		double	x0
	)

Construct parameterization with values given directly with SI units.

Parameters

holeRadius	[in] radius of the hole, \(r_{hole}\), in meters.
pegRadius	[in] radius of the peg, \(r_{peg}\), in meters.
theta	[in] the peg angle, \(\theta\), in radians.
phi	[in] the approach angle, \(\phi\), in radians.
distX	[in] the approach distance, d, in meters.
distY	[in] the distance to the rotation point, y, in meters.
distTContact	[in] the approach distance, d, in meters.
x0	[in] the insertion depth, \(x_0\), in meters.

Member Function Documentation

clone()

virtual AssemblyParameterization::Ptr clone ( ) const

virtual

Clone the parameterization.

Returns

a pointer to the new parameterization.

Reimplemented from AssemblyParameterization.

reset()

virtual 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()

virtual 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.

Member Data Documentation

theta

double theta

The angle, \(\theta\), of the peg relative to the hole.

\(\theta = 0\) means that the peg and hole is parallel.

\(\theta = \frac{\pi}{2}\) means that the peg and hole is perpendicular.

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

• PiHParameterization.hpp