Definition of a robot gripper. More...

#include <hpp/pinocchio/gripper.hh>

Public Member Functions
const JointPtr_t &	joint () const
	Get joint to which the gripper is attached. More...

const FrameIndex &	frameId () const
	Get the frame Id of the gripper in the vector of frame of the Model. More...

const Transform3f &	objectPositionInJoint () const
	Get handle position in the the Grippering joint. More...

const std::string &	name () const
	get name More...

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

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

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 DeviceWkPtr_t &device)
	Return a shared pointer to new instance. More...

static GripperPtr_t	createCopy (const GripperPtr_t &gripper, const DeviceWkPtr_t &otherDevice)

Protected Member Functions
	Gripper (const std::string &name, const DeviceWkPtr_t &device)
	Constructor. More...

void	init (GripperWkPtr_t weakPtr)

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.

Constructor & Destructor Documentation

hpp::pinocchio::Gripper::Gripper	(	const std::string &	name,
		const DeviceWkPtr_t &	device
	)

protected

Constructor.

Parameters

name	of the gripper in the device,
device

Todo:: device should be of type DeviceConstPtr_t but the constructor of JointPtr_t needs a DevicePtr_t.

Member Function Documentation

value_type hpp::pinocchio::Gripper::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.

Referenced by createCopy().

void hpp::pinocchio::Gripper::clearance ( const value_type & clearance )

inline

Set the clearance.

See also: clearance()

GripperPtr_t hpp::pinocchio::Gripper::clone ( ) const

static GripperPtr_t hpp::pinocchio::Gripper::create	(	const std::string &	name,
		const DeviceWkPtr_t &	device
	)

inlinestatic

Return a shared pointer to new instance.

Parameters

name	of the gripper in the device,
device

References init().

static GripperPtr_t hpp::pinocchio::Gripper::createCopy	(	const GripperPtr_t &	gripper,
		const DeviceWkPtr_t &	otherDevice
	)

inlinestatic

References clearance(), and init().

const FrameIndex& hpp::pinocchio::Gripper::frameId ( ) const

inline

Get the frame Id of the gripper in the vector of frame of the Model.

void hpp::pinocchio::Gripper::init ( GripperWkPtr_t weakPtr )

inlineprotected

Referenced by create(), and createCopy().

const JointPtr_t& hpp::pinocchio::Gripper::joint ( ) const

inline

Get joint to which the gripper is attached.

const std::string& hpp::pinocchio::Gripper::name ( ) const

inline

get name

const Transform3f& hpp::pinocchio::Gripper::objectPositionInJoint ( ) const

Get handle position in the the Grippering joint.

virtual std::ostream& hpp::pinocchio::Gripper::print ( std::ostream & os ) const

virtual

Referenced by hpp::pinocchio::operator<<().

Public Member Functions

Static Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation