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CjrlHand Class Referenceabstract

This class represents a robot hand. More...

#include <abstract-robot-dynamics/hand.hh>

Public Member Functions

virtual ~CjrlHand ()
 Destructor.
 
virtual CjrlJointassociatedWrist () const =0
 Get the wrist joint to which the hand is attached.
 
virtual void setAssociatedWrist (CjrlJoint *inJoint)=0
 Get the wrist joint to which the hand is attached.
 
virtual void getCenter (vector3d &outCenter) const =0
 Get the center of the hand.
 
virtual void setCenter (const vector3d &inCenter)=0
 Set the center of the hand.
 
virtual void getThumbAxis (vector3d &outThumbAxis) const =0
 Get thumb axis when had is in open position.
 
virtual void setThumbAxis (const vector3d &inThumbAxis)=0
 Set thumb axis in wrist frame when had is in open position.
 
virtual void getForeFingerAxis (vector3d &outForeFingerAxis) const =0
 Get forefinger axis.
 
virtual void setForeFingerAxis (const vector3d &inForeFingerAxis)=0
 Set forefinger axis.
 
virtual void getPalmNormal (vector3d &outPalmNormal) const =0
 Get palm normal.
 
virtual void setPalmNormal (const vector3d &inPalmNormal)=0
 Set palm normal.
 

Detailed Description

This class represents a robot hand.

A hand has a central point referenced in the wrist joint frame and three axis.

Constructor & Destructor Documentation

◆ ~CjrlHand()

virtual CjrlHand::~CjrlHand ( )
inlinevirtual

Destructor.

Member Function Documentation

◆ associatedWrist()

virtual CjrlJoint * CjrlHand::associatedWrist ( ) const
pure virtual

Get the wrist joint to which the hand is attached.

◆ getCenter()

virtual void CjrlHand::getCenter ( vector3d & outCenter) const
pure virtual

Get the center of the hand.

Return values
outCenterCenter of the hand in the frame of the wrist.

◆ getForeFingerAxis()

virtual void CjrlHand::getForeFingerAxis ( vector3d & outForeFingerAxis) const
pure virtual

Get forefinger axis.

Return values
outForeFingerAxisaxis of the forefinger in wrist frame in open position.

◆ getPalmNormal()

virtual void CjrlHand::getPalmNormal ( vector3d & outPalmNormal) const
pure virtual

Get palm normal.

Return values
outPalmNormalnormal to the palm in the frame of the wrist.

◆ getThumbAxis()

virtual void CjrlHand::getThumbAxis ( vector3d & outThumbAxis) const
pure virtual

Get thumb axis when had is in open position.

Return values
outThumbAxisAxis of the thumb in wrist frame in open position

◆ setAssociatedWrist()

virtual void CjrlHand::setAssociatedWrist ( CjrlJoint * inJoint)
pure virtual

Get the wrist joint to which the hand is attached.

◆ setCenter()

virtual void CjrlHand::setCenter ( const vector3d & inCenter)
pure virtual

Set the center of the hand.

Parameters
inCenterCenter of the hand in the frame of the wrist.

◆ setForeFingerAxis()

virtual void CjrlHand::setForeFingerAxis ( const vector3d & inForeFingerAxis)
pure virtual

Set forefinger axis.

Parameters
inForeFingerAxisaxis of the forefinger in wrist frame in open position.

◆ setPalmNormal()

virtual void CjrlHand::setPalmNormal ( const vector3d & inPalmNormal)
pure virtual

Set palm normal.

Parameters
inPalmNormalnormal to the palm in the frame of the wrist.

◆ setThumbAxis()

virtual void CjrlHand::setThumbAxis ( const vector3d & inThumbAxis)
pure virtual

Set thumb axis in wrist frame when had is in open position.

Parameters
inThumbAxisAxis of the thumb in wrist frame in open position