This class represents a hand. More...
#include <jrl/dynamics/hand.hh>


Public Member Functions | |
| Hand () | |
| Constructor. | |
| virtual | ~Hand () |
| Destructor. | |
| virtual CjrlJoint * | associatedWrist () const |
| Get the wrist joint to which the hand is attached. | |
| virtual void | setAssociatedWrist (CjrlJoint *inWrist) |
| Get the wrist joint to which the hand is attached. | |
| void | getCenter (vector3d &outCenter) const |
| Get the center of the hand. | |
| void | setCenter (const vector3d &inCenter) |
| Set the center of the hand. | |
| void | getThumbAxis (vector3d &outThumbAxis) const |
| Get thumb axis when had is in open position. | |
| void | setThumbAxis (const vector3d &inThumbAxis) |
| Set thumb axis in wrist frame when had is in open position. | |
| void | getForeFingerAxis (vector3d &outForeFingerAxis) const |
| Get forefinger axis. | |
| void | setForeFingerAxis (const vector3d &inForeFingerAxis) |
| Set forefinger axis. | |
| void | getPalmNormal (vector3d &outPalmNormal) const |
| Get palm normal. | |
| void | setPalmNormal (const vector3d &inPalmNormal) |
| Set palm normal. | |
Public Member Functions inherited from CjrlHand | |
| virtual | ~CjrlHand () |
This class represents a hand.
A hand has a central point referenced in the wrist joint frame, three axis and a scalar value ranging between 0 and 1 to describe the grasping degree (0 for open and 1 for closed hand)
| dynamicsJRLJapan::Hand::Hand | ( | ) |
Constructor.
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virtual |
Destructor.
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virtual |
Get the wrist joint to which the hand is attached.
Implements CjrlHand.
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virtual |
Get the center of the hand.
| outCenter | Center of the hand in the frame of the wrist. |
Implements CjrlHand.
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virtual |
Get forefinger axis.
| outForeFingerAxis | axis of the forefinger in wrist frame in open position |
Implements CjrlHand.
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virtual |
Get palm normal.
| outPalmNormal | normal to the palm in the frame of the wrist. |
Implements CjrlHand.
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virtual |
Get thumb axis when had is in open position.
| outThumbAxis | Axis of the thumb in wrist frame in open position |
Implements CjrlHand.
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virtual |
Get the wrist joint to which the hand is attached.
Implements CjrlHand.
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virtual |
Set the center of the hand.
| inCenter | Center of the hand in the frame of the wrist. |
Implements CjrlHand.
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virtual |
Set forefinger axis.
| inForeFingerAxis | axis of the forefinger in wrist frame in open position |
Implements CjrlHand.
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virtual |
Set palm normal.
| inPalmNormal | normal to the palm in the frame of the wrist. |
Implements CjrlHand.