This class represents a robot hand. More...
#include <abstract-robot-dynamics/hand.hh>
Public Member Functions | |
virtual | ~CjrlHand () |
Destructor. | |
virtual CjrlJoint * | associatedWrist () 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. |
This class represents a robot hand.
A hand has a central point referenced in the wrist joint frame and three axis.
virtual CjrlHand::~CjrlHand | ( | ) | [inline, virtual] |
Destructor.
virtual CjrlJoint* CjrlHand::associatedWrist | ( | ) | const [pure virtual] |
Get the wrist joint to which the hand is attached.
virtual void CjrlHand::getCenter | ( | vector3d & | outCenter | ) | const [pure virtual] |
Get the center of the hand.
outCenter | Center of the hand in the frame of the wrist. |
virtual void CjrlHand::getForeFingerAxis | ( | vector3d & | outForeFingerAxis | ) | const [pure virtual] |
Get forefinger axis.
outForeFingerAxis | axis of the forefinger in wrist frame in open position. |
virtual void CjrlHand::getPalmNormal | ( | vector3d & | outPalmNormal | ) | const [pure virtual] |
Get palm normal.
outPalmNormal | normal to the palm in the frame of the wrist. |
virtual void CjrlHand::getThumbAxis | ( | vector3d & | outThumbAxis | ) | const [pure virtual] |
Get thumb axis when had is in open position.
outThumbAxis | Axis of the thumb in wrist frame in open position |
virtual void CjrlHand::setAssociatedWrist | ( | CjrlJoint * | inJoint | ) | [pure virtual] |
Get the wrist joint to which the hand is attached.
virtual void CjrlHand::setCenter | ( | const vector3d & | inCenter | ) | [pure virtual] |
Set the center of the hand.
inCenter | Center of the hand in the frame of the wrist. |
virtual void CjrlHand::setForeFingerAxis | ( | const vector3d & | inForeFingerAxis | ) | [pure virtual] |
Set forefinger axis.
inForeFingerAxis | axis of the forefinger in wrist frame in open position. |
virtual void CjrlHand::setPalmNormal | ( | const vector3d & | inPalmNormal | ) | [pure virtual] |
Set palm normal.
inPalmNormal | normal to the palm in the frame of the wrist. |
virtual void CjrlHand::setThumbAxis | ( | const vector3d & | inThumbAxis | ) | [pure virtual] |
Set thumb axis in wrist frame when had is in open position.
inThumbAxis | Axis of the thumb in wrist frame in open position |