preshape Class Reference

Holds the grasp preshape type and the DOF values for that presahpe. More...

#include <grasp_preshape.h>

List of all members.

Public Member Functions
double	distanceTo (preshape) const
void	get_preshape (double &, double &, double &, double &) const
preshapeType	get_preshapeType () const
	preshape (const preshape &)
	preshape (preshapeType)
	preshape ()
void	set_preshape (double, double, double, double)
void	set_preshapeType (preshapeType)
Private Member Functions
void	updateAngles ()
Private Attributes
double	a
	Spread angle for Barrett Hand in degrees (DOF #0).
double	f1
	Flexion of finger 1 of Barrett Hand in degrees (DOF #1).
double	f2
	Flexion of finger 2 of Barrett Hand in degrees (DOF #2).
double	f3
	Flexion of finger 3 of Barrett Hand in degrees (DOF #3).
preshapeType	pType
	The current preshape.

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Detailed Description

Holds the grasp preshape type and the DOF values for that presahpe.

For the Barrett hand there are currently 4 defined preshapes. Each one is defined by its DOF values. Right now, the 4 shapes are only distinguished by the spread angle of the fingers.

Definition at line 76 of file grasp_preshape.h.

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Constructor & Destructor Documentation

preshape::preshape

(

)

Sets the preshape to PR_None and sets the initial angle values.

Definition at line 45 of file grasp_preshape.cpp.

preshape::preshape

(

preshapeType

p

)

Initialized the preshape type to p and updates the DOF values.

Definition at line 53 of file grasp_preshape.cpp.

preshape::preshape

(

const preshape &

p

)

Copies preshape p .

Definition at line 61 of file grasp_preshape.cpp.

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Member Function Documentation

double preshape::distanceTo

(

preshape

p

)

const

Computes a scalar distance between this preshape and preshape p. Since all preshapes currently only set the spread angle, this is simply computed as abs(a - p.a) / max(a, p.a) .

Definition at line 112 of file grasp_preshape.cpp.

void preshape::get_preshape	(	double &	aa,
		double &	ff1,
		double &	ff2,
		double &	ff3
	)			const

Returns the preshape DOF values.

Definition at line 98 of file grasp_preshape.cpp.

preshapeType preshape::get_preshapeType

(

)

const

Returns the preshape type.

Definition at line 90 of file grasp_preshape.cpp.

void preshape::set_preshape	(	double	aa,
		double	ff1,
		double	ff2,
		double	ff3
	)

Sets the preshape type to PR_None and sets the DOF values directly.

Definition at line 80 of file grasp_preshape.cpp.

void preshape::set_preshapeType

(

preshapeType

p

)

Sets the preshape type to p and updates the DOF values.

Definition at line 71 of file grasp_preshape.cpp.

void preshape::updateAngles

(

)

[private]

Uses the preshape type to set the DOF values.

Definition at line 136 of file grasp_preshape.cpp.

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Member Data Documentation

double preshape::a [private]

Spread angle for Barrett Hand in degrees (DOF #0).

Definition at line 80 of file grasp_preshape.h.

double preshape::f1 [private]

Flexion of finger 1 of Barrett Hand in degrees (DOF #1).

Definition at line 83 of file grasp_preshape.h.

double preshape::f2 [private]

Flexion of finger 2 of Barrett Hand in degrees (DOF #2).

Definition at line 86 of file grasp_preshape.h.

double preshape::f3 [private]

Flexion of finger 3 of Barrett Hand in degrees (DOF #3).

Definition at line 89 of file grasp_preshape.h.

preshapeType preshape::pType [private]

The current preshape.

Definition at line 92 of file grasp_preshape.h.

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The documentation for this class was generated from the following files:

• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/Planner/grasp_preshape.h
• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/Planner/grasp_preshape.cpp