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:

Public Member Functions

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

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

◆ Hand()

dynamicsJRLJapan::Hand::Hand ( )


Constructor

◆ ~Hand()

virtual dynamicsJRLJapan::Hand::~Hand ( )
virtual

Destructor.

Member Function Documentation

◆ associatedWrist()

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

Get the wrist joint to which the hand is attached.

Implements CjrlHand.

◆ getCenter()

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.

◆ getForeFingerAxis()

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.

◆ getPalmNormal()

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.

◆ getThumbAxis()

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.

◆ setAssociatedWrist()

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

Get the wrist joint to which the hand is attached.

Implements CjrlHand.

◆ setCenter()

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.

◆ setForeFingerAxis()

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

Set forefinger axis.

Parameters
inForeFingerAxisaxis of the forefinger in wrist frame in open position

Implements CjrlHand.

◆ setPalmNormal()

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

Set palm normal.

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

Implements CjrlHand.

◆ setThumbAxis()

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.