humanHand.cpp File Reference
#include "humanHand.h"
#include <QFile>
#include <QTextStream>
#include <list>
#include <Inventor/nodes/SoSphere.h>
#include <Inventor/nodes/SoCylinder.h>
#include <Inventor/nodes/SoMaterial.h>
#include <Inventor/nodes/SoDrawStyle.h>
#include "SoArrow.h"
#include "grasp.h"
#include "matrix.h"
#include "tinyxml.h"
#include "debug.h"
#include "world.h"
#include "profiling.h"
Go to the source code of this file.
Define Documentation
| #define WRAPPER_TOLERANCE 0.995 |
Function Documentation
| Matrix insPtForceBlockMatrix |
( |
unsigned int |
numInsPoints |
) |
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Creates the individual force matrices for the "fake contacts" at tendon location insertion points, which are only allowed to apply force in the normal direction (along local z). This should be integrated with the matrices that do the same thing for real contacts.
Definition at line 1211 of file humanHand.cpp.
| PROF_DECLARE |
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HH_CONTACT_EQUILIBRIUM |
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Solves: JTt f = JTc c where Jt is the Jacobian of tendon insertion points and Jc is the Jacobian of contacts. Assumes c = [1 .. 1] Returns the f that minimizes error norm (unbalanced magnitude).
| PROF_DECLARE |
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HH_TENDON_EQUILIBRIUM |
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| PROF_DECLARE |
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TENDON_REMOVE_INS_POINT |
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| PROF_DECLARE |
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TENDON_UPDATE_INSERTION_FORCES |
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Given a level of active and passive forces MAGNITUDES this computes what force is applied at each insertion point, and in what DIRECTION. Geometry needs to be up-to-date (use updateGeometry() ).
| PROF_DECLARE |
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TENDON_GET_INS_POINT_FORCE_MAGNITUDES |
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| PROF_DECLARE |
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TENDON_GET_INS_POINT_TRANSFORMS |
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| PROF_DECLARE |
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TENDON_UPDATE_FORCE_INDICATORS |
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| PROF_DECLARE |
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TENDON_COMPUTE_GEOMETRY_CORE |
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| PROF_DECLARE |
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TENDON_UPDATE_GEOMETRY |
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Updates the geometry of the connectors between insertion points, which need to move together with the robot's links. However, some of them depend on two links, so we can not use link transforms directly (like we do for the geometry of the insertion points).Rather, this geometry needs to be recomputed after every change in link status.
| PROF_DECLARE |
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TENDON_CHECK_INTERSECTIONS |
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) |
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Checks if a connector penetrates a cylindrical wrapper by more than the tolerance value. If so, it adds a temporary insertion point on the edge of the cylider. Problems:
- creates a small "jump" in the connector as it goes from being INSIDE the wrapper (acc. to tolerance) to passing through a point ON THE EDGE of the wrapper. This might create discontinuities between time steps for dynamics' numerical integration
- does not allow for lateral "sliding" of the tendon on the wrapper
| PROF_DECLARE |
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TENDON_REMOVE_INTERSECTIONS |
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| PROF_DECLARE |
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TENDON_REMOVE_TEMP_INSERTION_POINTS |
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| PROF_DECLARE |
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ROTATE_SO_TRANSFORM |
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| void rotateSoTransform |
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SoTransform * |
tran, |
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vec3 |
axis, |
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double |
angle | |
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) |
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