Classes | Defines | Enumerations | Functions
BHand.h File Reference
#include "BHandDef.h"
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Classes

class  BHand
 Allegro Hand grasping algorithm.

Defines

#define NOF   4
#define NOJ   4
#define SIZEOF_VARRAY   (NOF*NOJ*8)

Enumerations

enum  eHandType { eHandType_Left = 0, eHandType_Right }
 It specifies whether it is for left hand or right hand. More...
enum  eMotionType {
  eMotionType_NONE, eMotionType_HOME, eMotionType_READY, eMotionType_PRE_SHAPE,
  eMotionType_GRASP_3, eMotionType_GRASP_4, eMotionType_PINCH_IT, eMotionType_PINCH_MT,
  eMotionType_OBJECT_MOVING, eMotionType_ENVELOP, eMotionType_JOINT_PD, NUMBER_OF_MOTION_TYPE
}
 Motion type set by user. More...

Functions

BHAND_EXTERN_C_BEGIN
BHANDEXPORT BHand
bhCreateLeftHand ()
 Creates an instance of Allegro Hand control algorithm. It is for left hand.
BHANDEXPORT BHandbhCreateRightHand ()
 Creates an instance of Allegro Hand control algorithm. It is for right hand.

Define Documentation

#define NOF   4

Definition at line 33 of file BHand.h.

#define NOJ   4

Definition at line 34 of file BHand.h.

#define SIZEOF_VARRAY   (NOF*NOJ*8)

Definition at line 35 of file BHand.h.


Enumeration Type Documentation

enum eHandType

It specifies whether it is for left hand or right hand.

Type of hand. It is input argument to instanciate BHand class.

Enumerator:
eHandType_Left 

left hand

eHandType_Right 

right hand

Definition at line 61 of file BHand.h.

Motion type set by user.

Type of motion.

Enumerator:
eMotionType_NONE 

power off

eMotionType_HOME 

go to home position

eMotionType_READY 

finger position move motion (ready)

eMotionType_PRE_SHAPE 
eMotionType_GRASP_3 

grasping using 3 fingers

eMotionType_GRASP_4 

grasping using 4 fingers

eMotionType_PINCH_IT 

pinching using index finger and thumb

eMotionType_PINCH_MT 

pinching using middle finger and thumb

eMotionType_OBJECT_MOVING 
eMotionType_ENVELOP 

enveloping

eMotionType_JOINT_PD 

joint pd control

NUMBER_OF_MOTION_TYPE 

Definition at line 41 of file BHand.h.


Function Documentation

Creates an instance of Allegro Hand control algorithm. It is for left hand.

Creates an instance of Allegro Hand control algorithm. It is for right hand.

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AllegroHand
Author(s): Alex Alspach (SimLab), Seungsu Kim (EPFL)
autogenerated on Thu Mar 21 2013 21:24:05