Interfaces GraspIt with a real Barrett hand. More...
#include <barrettHandDlg.h>
Public Slots | |
| void | initializeHand () |
| Calls the initialization procedure on the real hand. | |
| void | initSpreadButton_clicked () |
| Re-initializes the spread angle DOF of the real hand. | |
| void | realHandFromSimulation () |
| Updates the real hand based on the posture of the simulated hand. | |
| void | simulationFromRealHand () |
| Makes the simulated hand mimic the posture of the real hand. | |
| void | smoothButton_clicked () |
| Sets motor parameters on the real hand to produce smoother motion in the spread DOF. | |
| void | toggleContinuousOperation () |
| In continous operation, the real hand follows all motion of the simulated hand. | |
Public Member Functions | |
| BarrettHandDlg (QWidget *parent=0) | |
| Initializes the dialog. | |
| bool | setWorld (World *w) |
| Sets the world and extracts from it all the members of this dialog. | |
Private Member Functions | |
| void | init () |
| Dialog initialization and button connections. | |
| void | userInteractionEnd () |
| Called when the user stops interacting with the simulated hand. | |
| void | userInteractionStart () |
| Called when the user starts interacting with the simulated hand. | |
Private Attributes | |
| BarrettHandThread * | mBHT |
| For multi-threaded interface with a real hand. This is not complete. | |
| BarrettHand * | mRealBarrett |
| The interface to the real Barrett hand. | |
| Barrett * | mSimBarrett |
| The simulated Barrett hand in GraspIt. | |
| Robot * | simulatedHandForContinuousOperation |
| bool | userInteractionOngoing |
| Shows if the user is currently interacting with the simulated hand. | |
| bool | withinSimulationUpdate |
| Shows if we are currently in the process of interacting with the real hand. | |
| World * | world |
| The world that the simulated hand belongs to. | |
Interfaces GraspIt with a real Barrett hand.
This dialog provides an interface between a simulated Barrett hand in GraspIt and a real Barrett hand. The interface goes in both ways: the real Barrett hand can me instructed to move like the simulated one, or the simulated hand can replicate the posture of the real one.
Definition at line 46 of file barrettHandDlg.h.
| BarrettHandDlg::BarrettHandDlg | ( | QWidget * | parent = 0 |
) | [inline] |
Initializes the dialog.
Definition at line 74 of file barrettHandDlg.h.
| void BarrettHandDlg::init | ( | ) | [private] |
Dialog initialization and button connections.
Definition at line 39 of file barrettHandDlg.cpp.
| void BarrettHandDlg::initializeHand | ( | ) | [slot] |
Calls the initialization procedure on the real hand.
Definition at line 68 of file barrettHandDlg.cpp.
| void BarrettHandDlg::initSpreadButton_clicked | ( | ) | [slot] |
Re-initializes the spread angle DOF of the real hand.
Definition at line 195 of file barrettHandDlg.cpp.
| void BarrettHandDlg::realHandFromSimulation | ( | ) | [slot] |
Updates the real hand based on the posture of the simulated hand.
Sends the joints of the real hand to the positions of the joints of the simulated hand. Breakaway is not always replicated, as it would need a physical obstacle to stop the movement of the real hand.
Definition at line 120 of file barrettHandDlg.cpp.
| bool BarrettHandDlg::setWorld | ( | World * | w | ) |
Sets the world and extracts from it all the members of this dialog.
Sets the simulation world used by this dialog, then takes the current selected hand in the World and checks if it is a Barrett. If so, it becomes the simulated hand, which is queried for its interface to a real hand. Right now, each simulated Barrett holds its own instance of an interface to a real hand.
Definition at line 54 of file barrettHandDlg.cpp.
| void BarrettHandDlg::simulationFromRealHand | ( | ) | [slot] |
Makes the simulated hand mimic the posture of the real hand.
Queries the real hand for finger posture and breakaway status and replicates them on the simulated hand.
Definition at line 80 of file barrettHandDlg.cpp.
| void BarrettHandDlg::smoothButton_clicked | ( | ) | [slot] |
Sets motor parameters on the real hand to produce smoother motion in the spread DOF.
Sets a set of parameters to the real Barrett hand which are intended to produce smoother acceleration in the spread DOF. Needs to be called each time after the hand is initialized, as initialization sets the default values which produce jerky motion.
Definition at line 188 of file barrettHandDlg.cpp.
| void BarrettHandDlg::toggleContinuousOperation | ( | ) | [slot] |
In continous operation, the real hand follows all motion of the simulated hand.
When continous opperation is on, the real Barrett hand automatically mimics all movement of the simulated hand that is done by the user.
Definition at line 145 of file barrettHandDlg.cpp.
| void BarrettHandDlg::userInteractionEnd | ( | ) | [private] |
Called when the user stops interacting with the simulated hand.
Definition at line 177 of file barrettHandDlg.cpp.
| void BarrettHandDlg::userInteractionStart | ( | ) | [private] |
Called when the user starts interacting with the simulated hand.
Called when the user has clicked a dragger on the simulated hand and has started draggin it around. In continous update mode, we actually wait until the user has released the dragger to set the real hand, so that we don't send a lots of tiny commands to the real motors while the user is dragging the mouse.
Definition at line 172 of file barrettHandDlg.cpp.
BarrettHandThread* BarrettHandDlg::mBHT [private] |
For multi-threaded interface with a real hand. This is not complete.
Definition at line 59 of file barrettHandDlg.h.
BarrettHand* BarrettHandDlg::mRealBarrett [private] |
The interface to the real Barrett hand.
Definition at line 57 of file barrettHandDlg.h.
Barrett* BarrettHandDlg::mSimBarrett [private] |
The simulated Barrett hand in GraspIt.
Definition at line 61 of file barrettHandDlg.h.
Definition at line 55 of file barrettHandDlg.h.
bool BarrettHandDlg::userInteractionOngoing [private] |
Shows if the user is currently interacting with the simulated hand.
Definition at line 51 of file barrettHandDlg.h.
bool BarrettHandDlg::withinSimulationUpdate [private] |
Shows if we are currently in the process of interacting with the real hand.
Definition at line 53 of file barrettHandDlg.h.
World* BarrettHandDlg::world [private] |
The world that the simulated hand belongs to.
Definition at line 63 of file barrettHandDlg.h.
