Part of an object that is aimed at being grasped. More...
#include <hpp/manipulation/handle.hh>
Public Member Functions | |
virtual HandlePtr_t | clone () const |
Return a pointer to the copy of this. More... | |
const Transform3f & | localPosition () const |
Get local position in joint frame. More... | |
virtual DifferentiableFunctionPtr_t | createGrasp (const GripperPtr_t &gripper) const |
Create constraint corresponding to a gripper grasping this object. More... | |
virtual DifferentiableFunctionPtr_t | createGraspComplement (const GripperPtr_t &gripper) const |
Create constraint that acts on the non-constrained axis of the constraint generated by Handle::createGrasp. More... | |
virtual DifferentiableFunctionPtr_t | createPreGrasp (const GripperPtr_t &gripper) const |
Create constraint corresponding to a pregrasping task. More... | |
virtual DifferentiableFunctionPtr_t | createPreGraspComplement (const GripperPtr_t &gripper, const value_type &shift) const |
Create constraint that acts on the non-constrained axis of the constraint generated by Handle::createPreGrasp. More... | |
Name | |
const std::string & | name () const |
Get name. More... | |
void | name (const std::string &n) |
Set name. More... | |
Joint | |
const JointPtr_t & | joint () const |
Get joint to which the handle is linked. More... | |
void | joint (const JointPtr_t &joint) |
Set joint to which the handle is linked. More... | |
Static Public Member Functions | |
static HandlePtr_t | create (const std::string &name, const Transform3f &localPosition, const JointPtr_t &joint) |
Create constraint corresponding to a gripper grasping this object. More... | |
static DifferentiableFunctionPtr_t | createGrasp (const GripperPtr_t &gripper, const HandlePtr_t &handle) |
Protected Member Functions | |
Handle (const std::string &name, const Transform3f &localPosition, const JointPtr_t &joint) | |
Constructor. More... | |
void | init (HandleWkPtr_t weakPtr) |
virtual std::ostream & | print (std::ostream &os) const |
Friends | |
std::ostream & | operator<< (std::ostream &, const Handle &) |
Part of an object that is aimed at being grasped.
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inlineprotected |
Constructor.
robot | the robot that grasps the handle, |
grasp | object containing the grasp information |
Referenced by create().
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virtual |
Return a pointer to the copy of this.
Reimplemented in hpp::manipulation::AxialHandle.
Referenced by create().
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inlinestatic |
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virtual |
Create constraint corresponding to a gripper grasping this object.
gripper | object containing the gripper information |
Reimplemented in hpp::manipulation::AxialHandle.
Referenced by localPosition().
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inlinestatic |
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virtual |
Create constraint that acts on the non-constrained axis of the constraint generated by Handle::createGrasp.
gripper | object containing the gripper information |
Reimplemented in hpp::manipulation::AxialHandle.
Referenced by localPosition().
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virtual |
Create constraint corresponding to a pregrasping task.
gripper | object containing the gripper information |
Reimplemented in hpp::manipulation::AxialHandle.
Referenced by localPosition().
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virtual |
Create constraint that acts on the non-constrained axis of the constraint generated by Handle::createPreGrasp.
gripper | object containing the gripper information |
shift | the target value along the x-axis |
Reimplemented in hpp::manipulation::AxialHandle.
Referenced by localPosition().
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inlineprotected |
References operator<<, and print().
Referenced by create(), and hpp::manipulation::AxialHandle::init().
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inline |
Get joint to which the handle is linked.
Referenced by joint().
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inline |
Set joint to which the handle is linked.
References joint().
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inline |
Get local position in joint frame.
References createGrasp(), createGraspComplement(), createPreGrasp(), and createPreGraspComplement().
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inline |
Get name.
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inline |
Set name.
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protectedvirtual |
Reimplemented in hpp::manipulation::AxialHandle.
Referenced by init().