RobWorkProject  23.9.11-
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CircularPiHParameterization Class Reference

The parameterization used for the CircularPiHControlStrategy. More...

#include <CircularPiHParameterization.hpp>

Inherits AssemblyParameterization.

Public Types

typedef rw::core::Ptr< CircularPiHParameterizationPtr
 smart pointer type to this class
 
- Public Types inherited from AssemblyParameterization
typedef rw::core::Ptr< AssemblyParameterizationPtr
 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::PropertyMaptoPropertyMap () 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]

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()

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.


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