Handle symmetric around its z-axis. More...
#include <hpp/manipulation/axial-handle.hh>
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 |
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virtual | ~Handle () |
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 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_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) HPP_MANIPULATION_DEPRECATED |
Create constraint corresponding to a gripper grasping this object. More... | |
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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 |
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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) |
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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... | |
Handle symmetric around its z-axis.
The constraint defined for a grasp by a gripper is free to rotate around z-axis.
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protected |
Constructor.
robot | the robot that grasps the handle, |
grasp | object containing the grasp information |
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virtual |
Return a pointer to the copy of this.
Reimplemented from hpp::manipulation::Handle.
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static |
Create constraint corresponding to a gripper grasping this object.
robot | the robot that grasps the handle, |
grasp | object containing the grasp information |
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virtual |
Create constraint corresponding to a gripper grasping this handle.
gripper | object containing the gripper information |
Reimplemented from hpp::manipulation::Handle.
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virtual |
Create complement constraint of gripper grasping this handle.
gripper | object containing the gripper information |
Reimplemented from hpp::manipulation::Handle.
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virtual |
Create constraint corresponding to a pregrasping task.
gripper | object containing the gripper information |
Reimplemented from hpp::manipulation::Handle.
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inlineprotected |
References hpp::manipulation::Handle::init().
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virtual |
Reimplemented from hpp::manipulation::Handle.
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static |
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protected |
Weak pointer to itself.