hpp::manipulation::AxialHandle Class Reference

Handle symmetric around its x-axis. More...

#include <hpp/manipulation/axial-handle.hh>

Inheritance diagram for hpp::manipulation::AxialHandle:
Collaboration diagram for hpp::manipulation::AxialHandle:

Public Member Functions

virtual HandlePtr_t clone () const
 Return a pointer to the copy of this. 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...
 
virtual std::ostream & print (std::ostream &os) const
 
- Public Member Functions inherited from hpp::manipulation::Handle
const Transform3flocalPosition () const
 Get local position in joint frame. More...
 
const std::string & name () const
 Get name. More...
 
void name (const std::string &n)
 Set name. More...
 
const JointPtr_tjoint () 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 AxialHandlePtr_t create (const std::string &name, const Transform3f &localPosition, const JointPtr_t &joint)
 Create constraint corresponding to a gripper grasping this object. More...
 
- Static Public Member Functions inherited from hpp::manipulation::Handle
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

 AxialHandle (const std::string &name, const Transform3f &localPosition, const JointPtr_t &joint)
 Constructor. More...
 
void init (const AxialHandleWkPtr_t &weakPtr)
 
- Protected Member Functions inherited from hpp::manipulation::Handle
 Handle (const std::string &name, const Transform3f &localPosition, const JointPtr_t &joint)
 Constructor. More...
 
void init (HandleWkPtr_t weakPtr)
 

Protected Attributes

AxialHandleWkPtr_t weakPtr_
 Weak pointer to itself. More...
 

Detailed Description

Handle symmetric around its x-axis.

Constructor & Destructor Documentation

◆ AxialHandle()

hpp::manipulation::AxialHandle::AxialHandle ( const std::string &  name,
const Transform3f localPosition,
const JointPtr_t joint 
)
inlineprotected

Constructor.

Parameters
robotthe robot that grasps the handle,
graspobject 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().

Member Function Documentation

◆ clone()

virtual HandlePtr_t hpp::manipulation::AxialHandle::clone ( ) const
virtual

Return a pointer to the copy of this.

Reimplemented from hpp::manipulation::Handle.

Referenced by create().

◆ create()

static AxialHandlePtr_t hpp::manipulation::AxialHandle::create ( const std::string &  name,
const Transform3f localPosition,
const JointPtr_t joint 
)
inlinestatic

Create constraint corresponding to a gripper grasping this object.

Parameters
robotthe robot that grasps the handle,
graspobject containing the grasp information
Returns
the constraint of relative position between the handle and the gripper. The rotation around x is not constrained.

References AxialHandle(), clone(), createGrasp(), createGraspComplement(), createPreGrasp(), createPreGraspComplement(), init(), and print().

◆ createGrasp()

virtual DifferentiableFunctionPtr_t hpp::manipulation::AxialHandle::createGrasp ( const GripperPtr_t gripper) const
virtual

Create constraint corresponding to a gripper grasping this object.

Parameters
graspobject 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()

virtual DifferentiableFunctionPtr_t hpp::manipulation::AxialHandle::createGraspComplement ( const GripperPtr_t gripper) const
virtual

Create constraint that acts on the non-constrained axis of the constraint generated by Handle::createGrasp.

Parameters
gripperobject 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()

virtual DifferentiableFunctionPtr_t hpp::manipulation::AxialHandle::createPreGrasp ( const GripperPtr_t gripper) const
virtual

Create constraint corresponding to a pregrasping task.

Parameters
gripperobject 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()

virtual DifferentiableFunctionPtr_t hpp::manipulation::AxialHandle::createPreGraspComplement ( const GripperPtr_t gripper,
const value_type shift 
) const
virtual

Create constraint that acts on the non-constrained axis of the constraint generated by Handle::createPreGrasp.

Parameters
gripperobject containing the gripper information
shiftthe 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 ( const AxialHandleWkPtr_t &  weakPtr)
inlineprotected

References hpp::manipulation::Handle::init(), and weakPtr_.

Referenced by create().

◆ print()

virtual std::ostream& hpp::manipulation::AxialHandle::print ( std::ostream &  os) const
virtual

Reimplemented from hpp::manipulation::Handle.

Referenced by create().

Member Data Documentation

◆ weakPtr_

AxialHandleWkPtr_t hpp::manipulation::AxialHandle::weakPtr_
protected

Weak pointer to itself.

Referenced by init().