dynamicgraph::sot::GripperControl Class Reference

The goal of this entity is to ensure that the maximal torque will not be exceeded during a grasping task. If the maximal torque is reached, then the current position of the gripper is kept. More...

#include <sot/core/gripper-control.hh>

Inheritance diagram for dynamicgraph::sot::GripperControl:

List of all members.

Public Member Functions

 GripperControl (void)
void computeIncrement (const ml::Vector &torques, const ml::Vector &torqueLimits, const ml::Vector &currentNormVel)
 Computes the.
ml::VectorcomputeDesiredPosition (const ml::Vector &currentPos, const ml::Vector &desiredPos, const ml::Vector &torques, const ml::Vector &torqueLimits, ml::Vector &referencePos)

Static Public Member Functions

static ml::Vectorselector (const ml::Vector &fullsize, const Flags &selec, ml::Vector &desPos)
 select only some of the values of the vector fullsize, based on the Flags vector.

Protected Attributes

double offset
ml::Vector factor
 The multiplication.

Static Protected Attributes

static const double OFFSET_DEFAULT

Detailed Description

The goal of this entity is to ensure that the maximal torque will not be exceeded during a grasping task. If the maximal torque is reached, then the current position of the gripper is kept.


Constructor & Destructor Documentation

dynamicgraph::sot::GripperControl::GripperControl ( void  )

Member Function Documentation

ml::Vector& dynamicgraph::sot::GripperControl::computeDesiredPosition ( const ml::Vector currentPos,
const ml::Vector desiredPos,
const ml::Vector torques,
const ml::Vector torqueLimits,
ml::Vector referencePos 
)
void dynamicgraph::sot::GripperControl::computeIncrement ( const ml::Vector torques,
const ml::Vector torqueLimits,
const ml::Vector currentNormVel 
)

Computes the.

static ml::Vector& dynamicgraph::sot::GripperControl::selector ( const ml::Vector fullsize,
const Flags selec,
ml::Vector desPos 
) [static]

select only some of the values of the vector fullsize, based on the Flags vector.


Member Data Documentation

The multiplication.

const double dynamicgraph::sot::GripperControl::OFFSET_DEFAULT [static, protected]