dynamicgraph::sot::GripperControl Class Reference

The goal of this entity is to ensure that the maximal torque will not be exceeded during a grasping task. If the maximal torque is reached, then the current position of the gripper is kept. More...

#include <sot/core/gripper-control.hh>

Inheritance diagram for dynamicgraph::sot::GripperControl:
[legend]

List of all members.

Public Member Functions

 GripperControl (void)
void computeIncrement (const dg::Vector &torques, const dg::Vector &torqueLimits, const dg::Vector &currentNormVel)
 Computes the.
dg::VectorcomputeDesiredPosition (const dg::Vector &currentPos, const dg::Vector &desiredPos, const dg::Vector &torques, const dg::Vector &torqueLimits, dg::Vector &referencePos)

Static Public Member Functions

static dg::Vectorselector (const dg::Vector &fullsize, const Flags &selec, dg::Vector &desPos)
 select only some of the values of the vector fullsize, based on the Flags vector.

Protected Attributes

double offset
dg::Vector factor
 The multiplication.

Static Protected Attributes

static const double OFFSET_DEFAULT

Detailed Description

The goal of this entity is to ensure that the maximal torque will not be exceeded during a grasping task. If the maximal torque is reached, then the current position of the gripper is kept.


Constructor & Destructor Documentation

dynamicgraph::sot::GripperControl::GripperControl ( void  )

Member Function Documentation

dg::Vector& dynamicgraph::sot::GripperControl::computeDesiredPosition ( const dg::Vector currentPos,
const dg::Vector desiredPos,
const dg::Vector torques,
const dg::Vector torqueLimits,
dg::Vector referencePos 
)
void dynamicgraph::sot::GripperControl::computeIncrement ( const dg::Vector torques,
const dg::Vector torqueLimits,
const dg::Vector currentNormVel 
)

Computes the.

static dg::Vector& dynamicgraph::sot::GripperControl::selector ( const dg::Vector fullsize,
const Flags selec,
dg::Vector desPos 
) [static]

select only some of the values of the vector fullsize, based on the Flags vector.


Member Data Documentation

The multiplication.

const double dynamicgraph::sot::GripperControl::OFFSET_DEFAULT [static, protected]