This class represents a robot hand. More...
#include <abstract-robot-dynamics/hand.hh>
Public Member Functions | |
virtual | ~CjrlHand () |
Destructor. More... | |
virtual CjrlJoint * | associatedWrist () const =0 |
Get the wrist joint to which the hand is attached. More... | |
virtual void | setAssociatedWrist (CjrlJoint *inJoint)=0 |
Get the wrist joint to which the hand is attached. More... | |
virtual void | getCenter (vector3d &outCenter) const =0 |
Get the center of the hand. More... | |
virtual void | setCenter (const vector3d &inCenter)=0 |
Set the center of the hand. More... | |
virtual void | getThumbAxis (vector3d &outThumbAxis) const =0 |
Get thumb axis when had is in open position. More... | |
virtual void | setThumbAxis (const vector3d &inThumbAxis)=0 |
Set thumb axis in wrist frame when had is in open position. More... | |
virtual void | getForeFingerAxis (vector3d &outForeFingerAxis) const =0 |
Get forefinger axis. More... | |
virtual void | setForeFingerAxis (const vector3d &inForeFingerAxis)=0 |
Set forefinger axis. More... | |
virtual void | getPalmNormal (vector3d &outPalmNormal) const =0 |
Get palm normal. More... | |
virtual void | setPalmNormal (const vector3d &inPalmNormal)=0 |
Set palm normal. More... | |
This class represents a robot hand.
A hand has a central point referenced in the wrist joint frame and three axis.
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inlinevirtual |
Destructor.
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pure virtual |
Get the wrist joint to which the hand is attached.
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pure virtual |
Get the center of the hand.
outCenter | Center of the hand in the frame of the wrist. |
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pure virtual |
Get forefinger axis.
outForeFingerAxis | axis of the forefinger in wrist frame in open position. |
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pure virtual |
Get palm normal.
outPalmNormal | normal to the palm in the frame of the wrist. |
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pure virtual |
Get thumb axis when had is in open position.
outThumbAxis | Axis of the thumb in wrist frame in open position |
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pure virtual |
Get the wrist joint to which the hand is attached.
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pure virtual |
Set the center of the hand.
inCenter | Center of the hand in the frame of the wrist. |
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pure virtual |
Set forefinger axis.
inForeFingerAxis | axis of the forefinger in wrist frame in open position. |
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pure virtual |
Set palm normal.
inPalmNormal | normal to the palm in the frame of the wrist. |
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pure virtual |
Set thumb axis in wrist frame when had is in open position.
inThumbAxis | Axis of the thumb in wrist frame in open position |