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

#include <hpp/manipulation/handle.hh>

Collaboration diagram for hpp::manipulation::Handle:

Public Member Functions
virtual	~Handle ()

virtual HandlePtr_t	clone () const
	Return a pointer to the copy of this. More...

const Transform3f &	localPosition () const
	Get local position in joint frame. More...

void	mask (const std::vector< bool > &mask)
	Set constraint mask. More...

const std::vector< bool > &	mask () const
	Get constraint mask See mask(const std::vector<bool>&) More...

virtual ImplicitPtr_t	createGrasp (const GripperPtr_t &gripper, std::string name) const
	Create constraint corresponding to a gripper grasping this handle. More...

virtual ImplicitPtr_t	createGraspComplement (const GripperPtr_t &gripper, std::string name) const
	Create complement constraint of gripper grasping this handle. More...

virtual ImplicitPtr_t	createGraspAndComplement (const GripperPtr_t &gripper, std::string name) const
	Create constraint composed of grasp constraint and its complement. More...

virtual ImplicitPtr_t	createPreGrasp (const GripperPtr_t &gripper, const value_type &shift, std::string name) const
	Create constraint corresponding to a pregrasping task. More...

value_type	clearance () const
	Get the clearance. More...

void	clearance (const value_type &clearance)
	Set the clearance. More...

Name
const std::string &	name () const
	Get name. More...

void	name (const std::string &n)
	Set name. More...

Joint
const JointPtr_t &	joint () const
	Get joint to which the handle is linked. More...

void	joint (const JointPtr_t &joint)
	Set joint to which the handle is linked. More...

DevicePtr_t	robot () const

Static Public Member Functions
static HandlePtr_t	create (const std::string &name, const Transform3f &localPosition, const DeviceWkPtr_t &robot, const JointPtr_t &joint)
	Create constraint corresponding to a gripper grasping this object. More...

Static Public Attributes
static std::string	className

Protected Member Functions
	Handle (const std::string &name, const Transform3f &localPosition, const DeviceWkPtr_t &robot, const JointPtr_t &joint)
	Constructor. More...

void	init (HandleWkPtr_t weakPtr)

virtual std::ostream &	print (std::ostream &os) const

Friends
std::ostream &	operator<< (std::ostream &, const Handle &)

Detailed Description

Part of an object that is aimed at being grasped.

Constructor & Destructor Documentation

virtual hpp::manipulation::Handle::~Handle ( )

inlinevirtual

hpp::manipulation::Handle::Handle	(	const std::string &	name,
		const Transform3f &	localPosition,
		const DeviceWkPtr_t &	robot,
		const JointPtr_t &	joint
	)

inlineprotected

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.

Member Function Documentation

value_type hpp::manipulation::Handle::clearance ( ) const

inline

Get the clearance.

The clearance is a distance, from the center of the gripper and along the x-aixs, that "ensures" an object being at that distance is not colliding with this gripper. It also gives an order of magnitude of the size of the gripper.

void hpp::manipulation::Handle::clearance ( const value_type & clearance )

inline

Set the clearance.

See also: clearance()

virtual HandlePtr_t hpp::manipulation::Handle::clone ( ) const

virtual

Return a pointer to the copy of this.

static HandlePtr_t hpp::manipulation::Handle::create	(	const std::string &	name,
		const Transform3f &	localPosition,
		const DeviceWkPtr_t &	robot,
		const JointPtr_t &	joint
	)

inlinestatic

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.

References init().

virtual ImplicitPtr_t hpp::manipulation::Handle::createGrasp	(	const GripperPtr_t &	gripper,
		std::string	name
	)		const

virtual

Create constraint corresponding to a gripper grasping this handle.

Parameters

gripper object containing the gripper information

Returns: the constraint of relative transformation between the handle and the gripper. The degrees of freedom of the relative transformation that are constrained are determined by the mask.

See also: constraints::Implicit::mask. The constraint is not parameterizable (has constant right hand side).

virtual ImplicitPtr_t hpp::manipulation::Handle::createGraspAndComplement	(	const GripperPtr_t &	gripper,
		std::string	name
	)		const

virtual

Create constraint composed of grasp constraint and its complement.

Parameters

gripper object containing the gripper information

Returns: the composition of grasp constraint and its complement, that that is a full relative transformation constraint.

virtual ImplicitPtr_t hpp::manipulation::Handle::createGraspComplement	(	const GripperPtr_t &	gripper,
		std::string	name
	)		const

virtual

Create complement constraint of gripper grasping this handle.

Parameters

gripper object containing the gripper information

Returns: complement constraint: constraint combined with its complement constitute a full relative transformation constraint. The complement constraint is parameterizable (has non constant right hand side).

virtual ImplicitPtr_t hpp::manipulation::Handle::createPreGrasp	(	const GripperPtr_t &	gripper,
		const value_type &	shift,
		std::string	name
	)		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: 6 DOFs of the relative transformation between the handle and the gripper are constrained. The transformation is shifted along x-axis of value shift.

void hpp::manipulation::Handle::init ( HandleWkPtr_t weakPtr )

inlineprotected

References hpp::manipulation::operator<<(), print(), and robot_.

Referenced by create().

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

inline

Get joint to which the handle is linked.

void hpp::manipulation::Handle::joint ( const JointPtr_t & joint )

inline

Set joint to which the handle is linked.

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

inline

Get local position in joint frame.

void hpp::manipulation::Handle::mask ( const std::vector< bool > & mask )

Set constraint mask.

const std::vector<bool>& hpp::manipulation::Handle::mask ( ) const

inline

Get constraint mask See mask(const std::vector<bool>&)

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

protectedvirtual

DevicePtr_t hpp::manipulation::Handle::robot ( ) const

inline

References robot_.

Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	,
		const Handle &
	)

friend

Member Data Documentation

std::string hpp::manipulation::Handle::className

static

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation