dynamicgraph::sot::GripperControl Class Reference

The goal of this entity is to ensure that the maximal torque will not be exceeded during a grasping task. If the maximal torque is reached, then the current position of the gripper is kept. More...

#include <sot/core/gripper-control.hh>

Inheritance diagram for dynamicgraph::sot::GripperControl:
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Public Member Functions

 GripperControl (void)
 
void computeIncrement (const ml::Vector &torques, const ml::Vector &torqueLimits, const ml::Vector &currentNormVel)
 Computes the. More...
 
ml::VectorcomputeDesiredPosition (const ml::Vector &currentPos, const ml::Vector &desiredPos, const ml::Vector &torques, const ml::Vector &torqueLimits, ml::Vector &referencePos)
 

Static Public Member Functions

static ml::Vectorselector (const ml::Vector &fullsize, const Flags &selec, ml::Vector &desPos)
 select only some of the values of the vector fullsize, based on the Flags vector. More...
 

Protected Attributes

double offset
 
ml::Vector factor
 The multiplication. More...
 

Static Protected Attributes

static const double OFFSET_DEFAULT
 

Detailed Description

The goal of this entity is to ensure that the maximal torque will not be exceeded during a grasping task. If the maximal torque is reached, then the current position of the gripper is kept.

Constructor & Destructor Documentation

◆ GripperControl()

dynamicgraph::sot::GripperControl::GripperControl ( void  )

Member Function Documentation

◆ computeDesiredPosition()

ml::Vector& dynamicgraph::sot::GripperControl::computeDesiredPosition ( const ml::Vector currentPos,
const ml::Vector desiredPos,
const ml::Vector torques,
const ml::Vector torqueLimits,
ml::Vector referencePos 
)

◆ computeIncrement()

void dynamicgraph::sot::GripperControl::computeIncrement ( const ml::Vector torques,
const ml::Vector torqueLimits,
const ml::Vector currentNormVel 
)

Computes the.

◆ selector()

static ml::Vector& dynamicgraph::sot::GripperControl::selector ( const ml::Vector fullsize,
const Flags selec,
ml::Vector desPos 
)
static

select only some of the values of the vector fullsize, based on the Flags vector.

Member Data Documentation

◆ factor

ml::Vector dynamicgraph::sot::GripperControl::factor
protected

The multiplication.

◆ offset

double dynamicgraph::sot::GripperControl::offset
protected

◆ OFFSET_DEFAULT

const double dynamicgraph::sot::GripperControl::OFFSET_DEFAULT
staticprotected