Handle symmetric around its x-axis.
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#include <hpp/manipulation/axial-handle.hh>
Handle symmetric around its x-axis.
◆ AxialHandle()
hpp::manipulation::AxialHandle::AxialHandle |
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const std::string & |
name, |
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const Transform3f & |
localPosition, |
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const JointPtr_t & |
joint |
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) |
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inlineprotected |
Constructor.
- Parameters
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robot | the robot that grasps the handle, |
grasp | object containing the grasp information |
- Returns
- the constraint of relative position between the handle and the gripper. The rotation around x is not constrained.
Referenced by create().
◆ clone()
virtual HandlePtr_t hpp::manipulation::AxialHandle::clone |
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const |
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virtual |
◆ create()
◆ createGrasp()
Create constraint corresponding to a gripper grasping this object.
- Parameters
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grasp | object containing the grasp information |
- Returns
- the constraint of relative transformation between the handle and the gripper. The rotation around x is not constrained.
Reimplemented from hpp::manipulation::Handle.
Referenced by create().
◆ createGraspComplement()
Create constraint that acts on the non-constrained axis of the constraint generated by Handle::createGrasp.
- Parameters
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gripper | object containing the gripper information |
- Returns
- a relative orientation constraint between the handle and the gripper. Only the rotation around the x-axis is constrained.
Reimplemented from hpp::manipulation::Handle.
Referenced by create().
◆ createPreGrasp()
Create constraint corresponding to a pregrasping task.
- Parameters
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gripper | object containing the gripper information |
- Returns
- the constraint of relative transformation between the handle and the gripper.
- Note
- The translation along x-axis and the rotation around z-axis are not constrained.
Reimplemented from hpp::manipulation::Handle.
Referenced by create().
◆ createPreGraspComplement()
Create constraint that acts on the non-constrained axis of the constraint generated by Handle::createPreGrasp.
- Parameters
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gripper | object containing the gripper information |
shift | the target value along the x-axis |
- Returns
- the constraint of relative position between the handle and the gripper.
- Note
- The translation along x-axis and the rotation around z-axis are constrained.
Reimplemented from hpp::manipulation::Handle.
Referenced by create().
◆ init()
void hpp::manipulation::AxialHandle::init |
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const AxialHandleWkPtr_t & |
weakPtr | ) |
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inlineprotected |
◆ print()
virtual std::ostream& hpp::manipulation::AxialHandle::print |
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std::ostream & |
os | ) |
const |
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virtual |
◆ weakPtr_
AxialHandleWkPtr_t hpp::manipulation::AxialHandle::weakPtr_ |
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protected |
Weak pointer to itself.
Referenced by init().