hpp::manipulation::Handle Class Reference

Part of an object that is aimed at being grasped. More...

#include <hpp/manipulation/handle.hh>

Inheritance diagram for hpp::manipulation::Handle:

List of all members.

Public Member Functions
virtual HandlePtr_t	clone () const
	Return a pointer to the copy of this.
const Transform3f &	localPosition () const
	Get local position in joint frame.
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.
Name
const std::string &	name () const
	Get name.
void	name (const std::string &n)
	Set name.
Joint
const JointPtr_t &	joint () const
	Get joint to which the handle is linked.
void	joint (const JointPtr_t &joint)
	Set joint to which the handle is linked.
Static Public Member Functions
static HandlePtr_t	create (const std::string &name, const Transform3f &localPosition, const JointPtr_t &joint)
	Create constraint corresponding to a gripper grasping this object.
static DifferentiableFunctionPtr_t	createGrasp (const GripperPtr_t &gripper, const HandlePtr_t &handle)
Protected Member Functions
	Handle (const std::string &name, const Transform3f &localPosition, const JointPtr_t &joint)
	Constructor.
void	init (HandleWkPtr_t weakPtr)
virtual std::ostream &	print (std::ostream &os) const
Friends
std::ostream &	operator<< (std::ostream &, const Handle &)

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Detailed Description

Part of an object that is aimed at being grasped.

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Constructor & Destructor Documentation

hpp::manipulation::Handle::Handle	(	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.

Referenced by create().

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Member Function Documentation

virtual HandlePtr_t hpp::manipulation::Handle::clone

(

)

const [virtual]

Return a pointer to the copy of this.

Reimplemented in hpp::manipulation::AxialHandle.

static HandlePtr_t hpp::manipulation::Handle::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.

Reimplemented in hpp::manipulation::AxialHandle.

References Handle(), and init().

virtual DifferentiableFunctionPtr_t hpp::manipulation::Handle::createGrasp

(

const GripperPtr_t &

gripper

)

const [virtual]

Create constraint corresponding to a gripper grasping this object.

Parameters:

gripper

object containing the gripper information

Returns:

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

Note:

The 6 DOFs of the relative transformation are constrained.

Reimplemented in hpp::manipulation::AxialHandle.

static DifferentiableFunctionPtr_t hpp::manipulation::Handle::createGrasp	(	const GripperPtr_t &	gripper,
		const HandlePtr_t &	handle
	)		[inline, static]

virtual DifferentiableFunctionPtr_t hpp::manipulation::Handle::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 constraints that is not doing anything.

Reimplemented in hpp::manipulation::AxialHandle.

virtual DifferentiableFunctionPtr_t hpp::manipulation::Handle::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:

Only 5 DOFs of the relative transformation between the handle and the gripper are constrained. The translation along x-axis is not constrained.

Reimplemented in hpp::manipulation::AxialHandle.

virtual DifferentiableFunctionPtr_t hpp::manipulation::Handle::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:

Only the x-axis of the relative transformation between the handle and the gripper is constrained.

Reimplemented in hpp::manipulation::AxialHandle.

void hpp::manipulation::Handle::init

(

HandleWkPtr_t

weakPtr

)

[inline, protected]

Referenced by create().

const JointPtr_t& hpp::manipulation::Handle::joint

(

)

const [inline]

Get joint to which the handle is linked.

Referenced by joint().

void hpp::manipulation::Handle::joint

(

const JointPtr_t &

joint

)

[inline]

Set joint to which the handle is linked.

References joint().

const Transform3f& hpp::manipulation::Handle::localPosition

(

)

const [inline]

Get local position in joint frame.

const std::string& hpp::manipulation::Handle::name

(

)

const [inline]

Get name.

void hpp::manipulation::Handle::name

(

const std::string &

n

)

[inline]

Set name.

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

(

std::ostream &

os

)

const [protected, virtual]

Reimplemented in hpp::manipulation::AxialHandle.

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Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	,
		const Handle &
	)		[friend]