Definition of a robot gripper. More...
#include <hpp/model/gripper.hh>
Public Member Functions | |
const JointPtr_t & | joint () const |
Get joint that grip. More... | |
void | joint (const JointPtr_t &joint) |
Set joint that grip. More... | |
const Transform3f & | objectPositionInJoint () 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_t & | getDisabledCollisions () 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) |
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.
To graps a box-shaped object with small lengths along x and y, the gripper frame should coincide with the object frame.
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inlineprotected |
Constructor.
joint | joint of the robot that holds the handle, |
objectPositionInJoint | handle position in the the grasping joint. |
disabledCollisions | vector of joints that will be in collision with the object, so collisions detection will be disabled for those joints and the handles. |
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inline |
add joint to disabled collision vector
GripperPtr_t hpp::model::Gripper::clone | ( | ) | const |
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inlinestatic |
Return a shared pointer to new instance.
joint | joint of the robot that will hold handles, |
objectPositionInJoint | object position in the the grasping joint. |
disabledCollisions | vector of joints that will be in collision with the object, so collisions detection will be disabled for those joints and the handles. |
References init().
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inline |
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inlineprotected |
References hpp::model::operator<<().
Referenced by create().
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inline |
Get joint that grip.
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Set joint that grip.
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get name
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Set name.
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Get handle position in the the Grippering joint.
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virtual |
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inline |
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inline |
remove joint of disabled collision vector