hpp::model::Gripper Class Reference

Definition of a robot gripper. More...

#include <hpp/model/gripper.hh>

List of all members.

Public Member Functions
const JointPtr_t &	joint () const
	Get joint that grip.
void	joint (const JointPtr_t &joint)
	Set joint that grip.
const Transform3f &	objectPositionInJoint () const
	Get handle position in the the Grippering joint.
const std::string &	name () const
	get name
void	name (const std::string &n)
	Set name.
void	addDisabledCollision (const JointPtr_t &joint)
	add joint to disabled collision vector
void	removeDisabledCollision (JointPtr_t &joint)
	remove joint of disabled collision vector
const JointVector_t &	getDisabledCollisions () const
void	removeAllDisabledCollisions ()
GripperPtr_t	clone () const
virtual std::ostream &	print (std::ostream &os) const
Static Public Member Functions
static GripperPtr_t	create (const std::string &name, const JointPtr_t &joint, const Transform3f &objectPositionInJoint, const JointVector_t disabledCollisions)
	Return a shared pointer to new instance.
Protected Member Functions
	Gripper (const std::string &name, const JointPtr_t &joint, const Transform3f &objectPositionInJoint, const JointVector_t disabledCollisions)
	Constructor.
void	init (GripperWkPtr_t weakPtr)

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Detailed Description

Definition of a robot gripper.

This class represent a robot gripper as a frame attached to the joint of the robot that holds the gripper.

To graps a box-shaped object with small lengths along x and y, the gripper frame should coincide with the object frame.

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Constructor & Destructor Documentation

hpp::model::Gripper::Gripper	(	const std::string &	name,
		const JointPtr_t &	joint,
		const Transform3f &	objectPositionInJoint,
		const JointVector_t	disabledCollisions
	)		[inline, protected]

Constructor.

Parameters:

joint	joint of the robot that holds the handle,
objectPositionInJoint	handle position in the the grasping joint.
disabledCollisions	vector of joints that will be in collision with the object, so collisions detection will be disabled for those joints and the handles.

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Member Function Documentation

void hpp::model::Gripper::addDisabledCollision

(

const JointPtr_t &

joint

)

[inline]

add joint to disabled collision vector

GripperPtr_t hpp::model::Gripper::clone

(

)

const

static GripperPtr_t hpp::model::Gripper::create	(	const std::string &	name,
		const JointPtr_t &	joint,
		const Transform3f &	objectPositionInJoint,
		const JointVector_t	disabledCollisions
	)		[inline, static]

Return a shared pointer to new instance.

Parameters:

joint	joint of the robot that will hold handles,
objectPositionInJoint	object position in the the grasping joint.
disabledCollisions	vector of joints that will be in collision with the object, so collisions detection will be disabled for those joints and the handles.

References init().

const JointVector_t& hpp::model::Gripper::getDisabledCollisions

(

)

const [inline]

void hpp::model::Gripper::init

(

GripperWkPtr_t

weakPtr

)

[inline, protected]

Referenced by create().

const JointPtr_t& hpp::model::Gripper::joint

(

)

const [inline]

Get joint that grip.

void hpp::model::Gripper::joint

(

const JointPtr_t &

joint

)

[inline]

Set joint that grip.

const std::string& hpp::model::Gripper::name

(

)

const [inline]

get name

void hpp::model::Gripper::name

(

const std::string &

n

)

[inline]

Set name.

const Transform3f& hpp::model::Gripper::objectPositionInJoint

(

)

const [inline]

Get handle position in the the Grippering joint.

virtual std::ostream& hpp::model::Gripper::print

(

std::ostream &

os

)

const [virtual]

void hpp::model::Gripper::removeAllDisabledCollisions

(

)

[inline]

void hpp::model::Gripper::removeDisabledCollision

(

JointPtr_t &

joint

)

[inline]

remove joint of disabled collision vector