hpp::model::Gripper Class Reference

Definition of a robot gripper. More...

#include <hpp/model/gripper.hh>

Public Member Functions

const JointPtr_tjoint () const
 Get joint that grip. More...
 
void joint (const JointPtr_t &joint)
 Set joint that grip. More...
 
const Transform3fobjectPositionInJoint () const
 Get handle position in the the Grippering joint. More...
 
const std::string & name () const
 get name More...
 
void name (const std::string &n)
 Set name. More...
 
void addDisabledCollision (const JointPtr_t &joint)
 add joint to disabled collision vector More...
 
void removeDisabledCollision (JointPtr_t &joint)
 remove joint of disabled collision vector More...
 
const JointVector_tgetDisabledCollisions () const
 
void removeAllDisabledCollisions ()
 
GripperPtr_t clone () const
 
virtual std::ostream & print (std::ostream &os) const
 

Static Public Member Functions

static GripperPtr_t create (const std::string &name, const JointPtr_t &joint, const Transform3f &objectPositionInJoint, const JointVector_t disabledCollisions)
 Return a shared pointer to new instance. More...
 

Protected Member Functions

 Gripper (const std::string &name, const JointPtr_t &joint, const Transform3f &objectPositionInJoint, const JointVector_t disabledCollisions)
 Constructor. More...
 
void init (GripperWkPtr_t weakPtr)
 

Detailed Description

Definition of a robot gripper.

This class represent a robot gripper as a frame attached to the joint of the robot that holds the gripper.

figure-gripper.png

To graps a box-shaped object with small lengths along x and y, the gripper frame should coincide with the object frame.

Constructor & Destructor Documentation

◆ Gripper()

hpp::model::Gripper::Gripper ( const std::string &  name,
const JointPtr_t joint,
const Transform3f objectPositionInJoint,
const JointVector_t  disabledCollisions 
)
inlineprotected

Constructor.

Parameters
jointjoint of the robot that holds the handle,
objectPositionInJointhandle position in the the grasping joint.
disabledCollisionsvector of joints that will be in collision with the object, so collisions detection will be disabled for those joints and the handles.

Member Function Documentation

◆ addDisabledCollision()

void hpp::model::Gripper::addDisabledCollision ( const JointPtr_t joint)
inline

add joint to disabled collision vector

◆ clone()

GripperPtr_t hpp::model::Gripper::clone ( ) const

◆ create()

static GripperPtr_t hpp::model::Gripper::create ( const std::string &  name,
const JointPtr_t joint,
const Transform3f objectPositionInJoint,
const JointVector_t  disabledCollisions 
)
inlinestatic

Return a shared pointer to new instance.

Parameters
jointjoint of the robot that will hold handles,
objectPositionInJointobject position in the the grasping joint.
disabledCollisionsvector of joints that will be in collision with the object, so collisions detection will be disabled for those joints and the handles.

References init().

◆ getDisabledCollisions()

const JointVector_t& hpp::model::Gripper::getDisabledCollisions ( ) const
inline

◆ init()

void hpp::model::Gripper::init ( GripperWkPtr_t  weakPtr)
inlineprotected

References hpp::model::operator<<().

Referenced by create().

◆ joint() [1/2]

const JointPtr_t& hpp::model::Gripper::joint ( ) const
inline

Get joint that grip.

◆ joint() [2/2]

void hpp::model::Gripper::joint ( const JointPtr_t joint)
inline

Set joint that grip.

◆ name() [1/2]

const std::string& hpp::model::Gripper::name ( ) const
inline

get name

◆ name() [2/2]

void hpp::model::Gripper::name ( const std::string &  n)
inline

Set name.

◆ objectPositionInJoint()

const Transform3f& hpp::model::Gripper::objectPositionInJoint ( ) const
inline

Get handle position in the the Grippering joint.

◆ print()

virtual std::ostream& hpp::model::Gripper::print ( std::ostream &  os) const
virtual

◆ removeAllDisabledCollisions()

void hpp::model::Gripper::removeAllDisabledCollisions ( )
inline

◆ removeDisabledCollision()

void hpp::model::Gripper::removeDisabledCollision ( JointPtr_t joint)
inline

remove joint of disabled collision vector