hpp::manipulation::AxialHandle Class Reference

Handle symmetric around its x-axis. More...

#include <hpp/manipulation/axial-handle.hh>

Inheritance diagram for hpp::manipulation::AxialHandle:

Collaboration diagram for hpp::manipulation::AxialHandle:

List of all members.

Public Member Functions
virtual HandlePtr_t	clone () const
	Return a pointer to the copy of this.
virtual DifferentiableFunctionPtr_t	createGrasp (const GripperPtr_t &gripper) const
	Create constraint corresponding to a gripper grasping this object.
virtual DifferentiableFunctionPtr_t	createGraspComplement (const GripperPtr_t &gripper) const
	Create constraint that acts on the non-constrained axis of the constraint generated by Handle::createGrasp.
virtual DifferentiableFunctionPtr_t	createPreGrasp (const GripperPtr_t &gripper) const
	Create constraint corresponding to a pregrasping task.
virtual DifferentiableFunctionPtr_t	createPreGraspComplement (const GripperPtr_t &gripper, const value_type &shift) const
	Create constraint that acts on the non-constrained axis of the constraint generated by Handle::createPreGrasp.
virtual std::ostream &	print (std::ostream &os) const
Static Public Member Functions
static AxialHandlePtr_t	create (const std::string &name, const Transform3f &localPosition, const JointPtr_t &joint)
	Create constraint corresponding to a gripper grasping this object.
Protected Member Functions
	AxialHandle (const std::string &name, const Transform3f &localPosition, const JointPtr_t &joint)
	Constructor.
void	init (const AxialHandleWkPtr_t &weakPtr)
Protected Attributes
AxialHandleWkPtr_t	weakPtr_
	Weak pointer to itself.

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Detailed Description

Handle symmetric around its x-axis.

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Constructor & Destructor Documentation

hpp::manipulation::AxialHandle::AxialHandle	(	const std::string &	name,
		const Transform3f &	localPosition,
		const JointPtr_t &	joint
	)		[inline, protected]

Constructor.

Parameters:

robot	the robot that grasps the handle,
grasp	object containing the grasp information

Returns:

the constraint of relative position between the handle and the gripper. The rotation around x is not constrained.

Referenced by create().

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Member Function Documentation

virtual HandlePtr_t hpp::manipulation::AxialHandle::clone

(

)

const [virtual]

Return a pointer to the copy of this.

Reimplemented from hpp::manipulation::Handle.

static AxialHandlePtr_t hpp::manipulation::AxialHandle::create	(	const std::string &	name,
		const Transform3f &	localPosition,
		const JointPtr_t &	joint
	)		[inline, static]

Create constraint corresponding to a gripper grasping this object.

Parameters:

robot	the robot that grasps the handle,
grasp	object containing the grasp information

Returns:

the constraint of relative position between the handle and the gripper. The rotation around x is not constrained.

Reimplemented from hpp::manipulation::Handle.

References AxialHandle(), and init().

virtual DifferentiableFunctionPtr_t hpp::manipulation::AxialHandle::createGrasp

(

const GripperPtr_t &

gripper

)

const [virtual]

Create constraint corresponding to a gripper grasping this object.

Parameters:

grasp

object containing the grasp information

Returns:

the constraint of relative transformation between the handle and the gripper. The rotation around x is not constrained.

Reimplemented from hpp::manipulation::Handle.

virtual DifferentiableFunctionPtr_t hpp::manipulation::AxialHandle::createGraspComplement

(

const GripperPtr_t &

gripper

)

const [virtual]

Create constraint that acts on the non-constrained axis of the constraint generated by Handle::createGrasp.

Parameters:

gripper

object containing the gripper information

Returns:

a relative orientation constraint between the handle and the gripper. Only the rotation around the x-axis is constrained.

Reimplemented from hpp::manipulation::Handle.

virtual DifferentiableFunctionPtr_t hpp::manipulation::AxialHandle::createPreGrasp

(

const GripperPtr_t &

gripper

)

const [virtual]

Create constraint corresponding to a pregrasping task.

Parameters:

gripper

object containing the gripper information

Returns:

the constraint of relative transformation between the handle and the gripper.

Note:

The translation along x-axis and the rotation around z-axis are not constrained.

Reimplemented from hpp::manipulation::Handle.

virtual DifferentiableFunctionPtr_t hpp::manipulation::AxialHandle::createPreGraspComplement	(	const GripperPtr_t &	gripper,
		const value_type &	shift
	)		const [virtual]

Create constraint that acts on the non-constrained axis of the constraint generated by Handle::createPreGrasp.

Parameters:

gripper	object containing the gripper information
shift	the target value along the x-axis

Returns:

the constraint of relative position between the handle and the gripper.

Note:

The translation along x-axis and the rotation around z-axis are constrained.

Reimplemented from hpp::manipulation::Handle.

void hpp::manipulation::AxialHandle::init

(

const AxialHandleWkPtr_t &

weakPtr

)

[inline, protected]

References weakPtr_.

Referenced by create().

virtual std::ostream& hpp::manipulation::AxialHandle::print

(

std::ostream &

os

)

const [virtual]

Reimplemented from hpp::manipulation::Handle.

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Member Data Documentation

AxialHandleWkPtr_t hpp::manipulation::AxialHandle::weakPtr_ [protected]

Weak pointer to itself.

Reimplemented from hpp::manipulation::Handle.

Referenced by init().