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:

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

virtual DifferentiableFunctionPtr_t	createGrasp (const GripperPtr_t &gripper) const
	Create constraint corresponding to a gripper grasping this object. More...

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. More...

virtual DifferentiableFunctionPtr_t	createPreGrasp (const GripperPtr_t &gripper) const
	Create constraint corresponding to a pregrasping task. More...

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. More...

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

Public Member Functions inherited from hpp::manipulation::Handle
const Transform3f &	localPosition () const
	Get local position in joint frame. More...

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

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

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...

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. More...

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

static DifferentiableFunctionPtr_t	createGrasp (const GripperPtr_t &gripper, const HandlePtr_t &handle)

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

void	init (const AxialHandleWkPtr_t &weakPtr)

Protected Member Functions inherited from hpp::manipulation::Handle
	Handle (const std::string &name, const Transform3f &localPosition, const JointPtr_t &joint)
	Constructor. More...

void	init (HandleWkPtr_t weakPtr)

Protected Attributes
AxialHandleWkPtr_t	weakPtr_
	Weak pointer to itself. More...

Detailed Description

Handle symmetric around its x-axis.

Constructor & Destructor Documentation

hpp::manipulation::AxialHandle::AxialHandle	(	const std::string &	name,
		const Transform3f &	localPosition,
		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. The rotation around x is not constrained.

Referenced by create().

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
	)

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. The rotation around x is not constrained.

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 )

inlineprotected

References hpp::manipulation::Handle::init(), and weakPtr_.

Referenced by create().

virtual std::ostream& hpp::manipulation::AxialHandle::print ( std::ostream & os ) const

virtual

Reimplemented from hpp::manipulation::Handle.

Member Data Documentation

AxialHandleWkPtr_t hpp::manipulation::AxialHandle::weakPtr_

protected

Weak pointer to itself.

Referenced by init().

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation