SpiralParameterization Class Reference

Parameterization of a strategy that searches for a hole using a spiral strategy. More...

#include <SpiralParameterization.hpp>

Inherits AssemblyParameterization.

Public Types
typedef rw::core::Ptr< SpiralParameterization >	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
	SpiralParameterization (rw::core::Ptr< rw::core::PropertyMap > pmap)
	Construct parameterization from PropertyMap. More...
	SpiralParameterization (double r, double n, double length_peg, double length_push, double length_start_traj, double depth_in_hole_for_success, double speed, double d_path, double maxAllowedForce)
	Construct parameterization with given values. More...
virtual	~SpiralParameterization ()
	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	r
	the spiral radius in \(\frac{m}{rad}\).
double	n
	the number of turns.
double	length_peg
	length from end of peg to the point where the rotation occurs (in meters).
double	length_push
	depth the peg i pushed towards the hole (in meters).
double	length_start_traj
	offset of the peg in the z-direction for the approach pose (in meters).
double	depth_in_hole_for_success
	depth in hole where insertion is considered successful (in meters).
double	speed
	speed of the motion in \(\frac{m}{s}\).
double	d_path
	the discretization of the spiral (in radians).
double	maxAllowedForce
	The strategy aborts if the force sensor measures a higher force than this maximum allowed force.

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

Detailed Description

Parameterization of a strategy that searches for a hole using a spiral strategy.

The following illustration shows the spiral motion performed using the spiral strategy. The blue point shows the initial location of the one end of the peg, while the red spiral shows the opposite end of the peg. During the spiral motion, the peg will gradually go from vertical to more and more horizontal. At the same time, the one end of the peg will remain on the same vertical line compared to the hole.

Top view and side view of the spiral motion

performed with the peg to search for hole."

The strategy is parameterized using the following parameters:

| Parameter | Description | Units | Units in PropertyMap | | --------------— | ------------------------------------------------------------------------— | ----------------— | -----------------— | | r | The spiral radius. | \(\frac{m}{rad}\) | \(\frac{mm}{rad}\) | | n | Number of turns. | | | | \(l_{peg}\) | Length from end of peg to the point where rotation occurs (the blue point). | m | mm | | \(l_{push}\) | Offset of the peg in the z-direction. | m | mm | | \(l_{start}\) | Offset of the peg in the z-direction for the approach pose. | m | mm | | \(d_{success}\) | Depth in hole where insertion is considered successful. | m | mm | | v | Speed of motion. | \(\frac{m}{s}\) | \(\frac{mm}{s}\) | | \(\Delta d\) | Discretization of spiral. | rad | rad | | \(f_{max}\) | Maximum force allowed before strategy is aborted. | N | N |

Constructor & Destructor Documentation

SpiralParameterization() [1/2]

SpiralParameterization

(

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

pmap

)

Construct parameterization from PropertyMap.

Parameters

pmap	[in] a PropertyMap with the parameterization given as properties.

SpiralParameterization() [2/2]

SpiralParameterization	(	double	r,
		double	n,
		double	length_peg,
		double	length_push,
		double	length_start_traj,
		double	depth_in_hole_for_success,
		double	speed,
		double	d_path,
		double	maxAllowedForce
	)

Construct parameterization with given values.

Parameters

r	[in] the spiral radius in \(\frac{m}{rad}\).
n	[in] the number of turns.
length_peg	[in] length from end of peg to the point where the rotation occurs (in meters).
length_push	[in] offset of the peg in the z-direction (in meters).
length_start_traj	[in] offset of the peg in the z-direction for the approach pose (in meters).
depth_in_hole_for_success	[in] depth in hole where insertion is considered successful (in meters).
speed	[in] speed of the motion in \(\frac{m}{s}\).
d_path	[in] the discretization of the spiral (in radians).
maxAllowedForce	[in] the maximum allowed force before strategy is aborted.

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.

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

• SpiralParameterization.hpp