This class represents a hand. More...
#include <jrl/dynamics/hand.hh>
Public Member Functions | |
Hand () | |
Constructor More... | |
virtual | ~Hand () |
Destructor. More... | |
virtual CjrlJoint * | associatedWrist () 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... | |
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virtual | ~CjrlHand () |
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)
dynamicsJRLJapan::Hand::Hand | ( | ) |
Constructor
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Destructor.
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Get the wrist joint to which the hand is attached.
Implements CjrlHand.
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Get the center of the hand.
outCenter | Center of the hand in the frame of the wrist. |
Implements CjrlHand.
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Get forefinger axis.
outForeFingerAxis | axis of the forefinger in wrist frame in open position |
Implements CjrlHand.
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Get palm normal.
outPalmNormal | normal to the palm in the frame of the wrist. |
Implements CjrlHand.
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Get thumb axis when had is in open position.
outThumbAxis | Axis of the thumb in wrist frame in open position |
Implements CjrlHand.
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Get the wrist joint to which the hand is attached.
Implements CjrlHand.
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Set the center of the hand.
inCenter | Center of the hand in the frame of the wrist. |
Implements CjrlHand.
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Set forefinger axis.
inForeFingerAxis | axis of the forefinger in wrist frame in open position |
Implements CjrlHand.
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Set palm normal.
inPalmNormal | normal to the palm in the frame of the wrist. |
Implements CjrlHand.