CjrlHand Class Reference

This class represents a robot hand. More...

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

List of all members.

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

virtual CjrlHand::~CjrlHand ( ) [inline, virtual]

Destructor.


Member Function Documentation

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.

Return values:
outCenterCenter of the hand in the frame of the wrist.
virtual void CjrlHand::getForeFingerAxis ( vector3d outForeFingerAxis) const [pure virtual]

Get forefinger axis.

Return values:
outForeFingerAxisaxis of the forefinger in wrist frame in open position.
virtual void CjrlHand::getPalmNormal ( vector3d outPalmNormal) const [pure virtual]

Get palm normal.

Return values:
outPalmNormalnormal 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.

Return values:
outThumbAxisAxis 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.

Parameters:
inCenterCenter of the hand in the frame of the wrist.
virtual void CjrlHand::setForeFingerAxis ( const vector3d inForeFingerAxis) [pure virtual]

Set forefinger axis.

Parameters:
inForeFingerAxisaxis of the forefinger in wrist frame in open position.
virtual void CjrlHand::setPalmNormal ( const vector3d inPalmNormal) [pure virtual]

Set palm normal.

Parameters:
inPalmNormalnormal 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.

Parameters:
inThumbAxisAxis of the thumb in wrist frame in open position