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hpp::manipulation::AxialHandle Class Reference

Handle symmetric around its z-axis. More...

#include <hpp/manipulation/axial-handle.hh>

Inheritance diagram for hpp::manipulation::AxialHandle:
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Collaboration diagram for hpp::manipulation::AxialHandle:
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Public Member Functions

virtual HandlePtr_t clone () const
 Return a pointer to the copy of this. More...
 
virtual NumericalConstraintPtr_t createGrasp (const GripperPtr_t &gripper, std::string name) const
 Create constraint corresponding to a gripper grasping this handle. More...
 
virtual NumericalConstraintPtr_t createGraspComplement (const GripperPtr_t &gripper, std::string name) const
 Create complement constraint of gripper grasping this handle. More...
 
virtual NumericalConstraintPtr_t createPreGrasp (const GripperPtr_t &gripper, const value_type &shift, std::string name) const
 Create constraint corresponding to a pregrasping task. More...
 
virtual std::ostream & print (std::ostream &os) const
 
- Public Member Functions inherited from hpp::manipulation::Handle
virtual ~Handle ()
 
const Transform3flocalPosition () 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 NumericalConstraintPtr_t createGraspAndComplement (const GripperPtr_t &gripper, std::string name) const
 Create constraint composed of grasp constraint and its complement. More...
 
value_type clearance () const
 Get the clearance. More...
 
void clearance (const value_type &clearance)
 Set the clearance. More...
 
const std::string & name () const
 Get name. More...
 
void name (const std::string &n)
 Set name. More...
 
const JointPtr_tjoint () 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) HPP_MANIPULATION_DEPRECATED
 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 Public Attributes

static std::string className
 
- Static Public Attributes inherited from hpp::manipulation::Handle
static std::string className
 

Protected Member Functions

 AxialHandle (const std::string &name, const Transform3f &localPosition, const JointPtr_t &joint) HPP_MANIPULATION_DEPRECATED
 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 z-axis.

The constraint defined for a grasp by a gripper is free to rotate around z-axis.

Deprecated:
This class is deprecated. Use class Handle with appropriate mask

Constructor & Destructor Documentation

hpp::manipulation::AxialHandle::AxialHandle ( const std::string &  name,
const Transform3f localPosition,
const JointPtr_t joint 
)
protected

Constructor.

Parameters
robotthe robot that grasps the handle,
graspobject containing the grasp information
Returns
the constraint of relative position between the handle and the gripper. The rotation around x is not constrained.

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 
)
static

Create constraint corresponding to a gripper grasping this object.

Parameters
robotthe robot that grasps the handle,
graspobject containing the grasp information
Returns
the constraint of relative position between the handle and the gripper. The rotation around x is not constrained.
Deprecated:
This class is deprecated. The method creates an instance of Handle with appropriate mask
virtual NumericalConstraintPtr_t hpp::manipulation::AxialHandle::createGrasp ( const GripperPtr_t gripper,
std::string  name 
) const
virtual

Create constraint corresponding to a gripper grasping this handle.

Parameters
gripperobject containing the gripper information
Returns
the constraint of relative transformation between the handle and the gripper.
Note
5 degrees of freedom are constrained. Rotation around z is free.

Reimplemented from hpp::manipulation::Handle.

virtual NumericalConstraintPtr_t hpp::manipulation::AxialHandle::createGraspComplement ( const GripperPtr_t gripper,
std::string  name 
) const
virtual

Create complement constraint of gripper grasping this handle.

Parameters
gripperobject containing the gripper information
Returns
trivial constraint
Note
1 degree of freedom is constrained: rotation around z.
the constraint is parameterizable: non constant right hand side.

Reimplemented from hpp::manipulation::Handle.

virtual NumericalConstraintPtr_t hpp::manipulation::AxialHandle::createPreGrasp ( const GripperPtr_t gripper,
const value_type shift,
std::string  name 
) const
virtual

Create constraint corresponding to a pregrasping task.

Parameters
gripperobject 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.
Todo:
this function is never called. It should follow changes of Handle::createPreGrasp prototype.

Reimplemented from hpp::manipulation::Handle.

void hpp::manipulation::AxialHandle::init ( const AxialHandleWkPtr_t &  weakPtr)
inlineprotected
virtual std::ostream& hpp::manipulation::AxialHandle::print ( std::ostream &  os) const
virtual

Reimplemented from hpp::manipulation::Handle.

Member Data Documentation

std::string hpp::manipulation::AxialHandle::className
static
AxialHandleWkPtr_t hpp::manipulation::AxialHandle::weakPtr_
protected

Weak pointer to itself.