The goal of this entity is to ensure that the maximal torque will not be exceeded during a grasping task. If the maximal torque is reached, then the current position of the gripper is kept. More...

#include <sot/core/gripper-control.hh>

Inheritance diagram for dynamicgraph::sot::GripperControl:

[legend]

Public Member Functions
	GripperControl (void)

void	computeIncrement (const dg::Vector &torques, const dg::Vector &torqueLimits, const dg::Vector &currentNormVel)
	Computes the. More...

dg::Vector &	computeDesiredPosition (const dg::Vector &currentPos, const dg::Vector &desiredPos, const dg::Vector &torques, const dg::Vector &torqueLimits, dg::Vector &referencePos)

Static Public Member Functions
static dg::Vector &	selector (const dg::Vector &fullsize, const Flags &selec, dg::Vector &desPos)
	select only some of the values of the vector fullsize, based on the Flags vector. More...

Protected Attributes
double	offset

dg::Vector	factor
	The multiplication. More...

Static Protected Attributes
static const double	OFFSET_DEFAULT

Detailed Description

The goal of this entity is to ensure that the maximal torque will not be exceeded during a grasping task. If the maximal torque is reached, then the current position of the gripper is kept.

Constructor & Destructor Documentation

◆ GripperControl()

dynamicgraph::sot::GripperControl::GripperControl ( void )

Member Function Documentation

◆ computeDesiredPosition()

dg::Vector& dynamicgraph::sot::GripperControl::computeDesiredPosition	(	const dg::Vector &	currentPos,
		const dg::Vector &	desiredPos,
		const dg::Vector &	torques,
		const dg::Vector &	torqueLimits,
		dg::Vector &	referencePos
	)

◆ computeIncrement()

void dynamicgraph::sot::GripperControl::computeIncrement	(	const dg::Vector &	torques,
		const dg::Vector &	torqueLimits,
		const dg::Vector &	currentNormVel
	)

Computes the.

◆ selector()

static dg::Vector& dynamicgraph::sot::GripperControl::selector	(	const dg::Vector &	fullsize,
		const Flags &	selec,
		dg::Vector &	desPos
	)

static

select only some of the values of the vector fullsize, based on the Flags vector.

Member Data Documentation

◆ factor

dg::Vector dynamicgraph::sot::GripperControl::factor

protected

The multiplication.

◆ offset

double dynamicgraph::sot::GripperControl::offset

protected

◆ OFFSET_DEFAULT

const double dynamicgraph::sot::GripperControl::OFFSET_DEFAULT

staticprotected

Public Member Functions

Static Public Member Functions

Protected Attributes

Static Protected Attributes