dynamicsJRLJapan::Hand Class Reference

This class represents a hand. More...

#include <jrl/dynamics/hand.hh>

Inheritance diagram for dynamicsJRLJapan::Hand:
Collaboration diagram for dynamicsJRLJapan::Hand:

List of all members.

Public Member Functions

 Hand ()
 Constructor.
virtual ~Hand ()
 Destructor.
virtual CjrlJointassociatedWrist () 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.

Detailed Description

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)


Constructor & Destructor Documentation

dynamicsJRLJapan::Hand::Hand ( )

Constructor.

virtual dynamicsJRLJapan::Hand::~Hand ( ) [virtual]

Destructor.


Member Function Documentation

virtual CjrlJoint* dynamicsJRLJapan::Hand::associatedWrist ( ) const [virtual]

Get the wrist joint to which the hand is attached.

Implements CjrlHand.

void dynamicsJRLJapan::Hand::getCenter ( vector3d outCenter) const [virtual]

Get the center of the hand.

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

Implements CjrlHand.

void dynamicsJRLJapan::Hand::getForeFingerAxis ( vector3d outForeFingerAxis) const [virtual]

Get forefinger axis.

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

Implements CjrlHand.

void dynamicsJRLJapan::Hand::getPalmNormal ( vector3d outPalmNormal) const [virtual]

Get palm normal.

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

Implements CjrlHand.

void dynamicsJRLJapan::Hand::getThumbAxis ( vector3d outThumbAxis) const [virtual]

Get thumb axis when had is in open position.

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

Implements CjrlHand.

virtual void dynamicsJRLJapan::Hand::setAssociatedWrist ( CjrlJoint inWrist) [virtual]

Get the wrist joint to which the hand is attached.

Implements CjrlHand.

void dynamicsJRLJapan::Hand::setCenter ( const vector3d inCenter) [virtual]

Set the center of the hand.

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

Implements CjrlHand.

void dynamicsJRLJapan::Hand::setForeFingerAxis ( const vector3d inForeFingerAxis) [virtual]

Set forefinger axis.

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

Implements CjrlHand.

void dynamicsJRLJapan::Hand::setPalmNormal ( const vector3d inPalmNormal) [virtual]

Set palm normal.

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

Implements CjrlHand.

void dynamicsJRLJapan::Hand::setThumbAxis ( const vector3d inThumbAxis) [virtual]

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

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

Implements CjrlHand.