Describes contact force magnitude, friction cone discretization, friction coefficient, torsional friction coefficient, contact type, contact model type and the patch inclusion rule for a ICR::Finger. More...

#include <finger.h>

Public Member Functions
	FingerParameters ()
	All parameters are initialized with default values as in config.h file.
	FingerParameters (FingerParameters const &src)
	FingerParameters (string name, double force_magnitude_in, uint disc_in, double mu_0_in, double mu_T_in, ContactType contact_type_in, ModelType model_type_in, double radius_in)
	Constructs a finger parameter. If an input argument is out of expected range the default value is set.
ContactType	getContactType () const
uint	getDisc () const
double	getForceMagnitude () const
InclusionRule const *	getInclusionRule () const
bool	getInclusionRuleFilterPatch () const
uint	getInclusionRuleParameter () const
RuleType	getInclusionRuleType () const
ModelType	getModelType () const
double	getMu0 () const
double	getMuT () const
string	getName () const
FingerParameters &	operator= (FingerParameters const &src)
void	setContactModelType (ModelType model_type)
void	setContactModelType (string &model_type)
void	setContactType (ContactType contact_type)
void	setContactType (string &contact_type)
void	setDiscretization (uint d_in)
void	setForce (double f_in)
void	setFriction (double mu_in)
void	setFrictionalContact (double force_magnitude, uint disc, double mu_0)
void	setFrictionlessContact (double force_magnitude)
void	setFrictionTorsional (double mu_in)
void	setInclusionRule (InclusionRule const &inclusion_rule)
void	setInclusionRuleFilterPatch (bool filter_inside_points)
void	setInclusionRuleParameter (double rule_parameter)
void	setInclusionRuleType (RuleType rule_type)
void	setInclusionRuleType (string &rule_type)
void	setName (string &name_in)
void	setSoftFingerContact (double force_magnitude, uint disc, double mu_0, double mu_T)
	~FingerParameters ()
Private Attributes
ContactType	contact_type_
	(undefined, f-less, frictinal, soft)
uint	disc_
double	force_magnitude_
InclusionRule	inclusion_rule_
	in current implementation holds just a radius if ref ICR::MultiPointContactModel is chosen.
ModelType	model_type_
	(undefined, single, patch -- multipoint)
double	mu_0_
	friction coefficient
double	mu_T_
	torsional friction coefficient
string	name_
Friends
std::ostream &	operator<< (std::ostream &stream, FingerParameters const &param)

Detailed Description

Describes contact force magnitude, friction cone discretization, friction coefficient, torsional friction coefficient, contact type, contact model type and the patch inclusion rule for a ICR::Finger.

Definition at line 131 of file finger.h.

Constructor & Destructor Documentation

ICR::FingerParameters::FingerParameters ( )

All parameters are initialized with default values as in config.h file.

Definition at line 158 of file finger.cpp.

ICR::FingerParameters::FingerParameters ( FingerParameters const & src )

Definition at line 168 of file finger.cpp.

ICR::FingerParameters::FingerParameters	(	string	name,
		double	force_magnitude_in,
		uint	disc_in,
		double	mu_0_in,
		double	mu_T_in,
		ContactType	contact_type_in,
		ModelType	model_type_in,
		double	radius_in
	)

Constructs a finger parameter. If an input argument is out of expected range the default value is set.

Parameters:

radius_in [in] Radius of a patch when a multi-point contact model is used. This value is used to construct the inclusion_rule_

Definition at line 178 of file finger.cpp.

ICR::FingerParameters::~FingerParameters ( )

Definition at line 277 of file finger.cpp.

Member Function Documentation

ContactType ICR::FingerParameters::getContactType ( ) const

Definition at line 366 of file finger.cpp.

uint ICR::FingerParameters::getDisc ( ) const

Definition at line 358 of file finger.cpp.

double ICR::FingerParameters::getForceMagnitude ( ) const

Definition at line 356 of file finger.cpp.

InclusionRule const * ICR::FingerParameters::getInclusionRule ( ) const

Definition at line 370 of file finger.cpp.

bool ICR::FingerParameters::getInclusionRuleFilterPatch ( ) const

Definition at line 376 of file finger.cpp.

uint ICR::FingerParameters::getInclusionRuleParameter ( ) const

Definition at line 374 of file finger.cpp.

RuleType ICR::FingerParameters::getInclusionRuleType ( ) const

Definition at line 372 of file finger.cpp.

ModelType ICR::FingerParameters::getModelType ( ) const

Definition at line 368 of file finger.cpp.

double ICR::FingerParameters::getMu0 ( ) const

Definition at line 362 of file finger.cpp.

double ICR::FingerParameters::getMuT ( ) const

Definition at line 364 of file finger.cpp.

std::string ICR::FingerParameters::getName ( ) const

Definition at line 360 of file finger.cpp.

FingerParameters & ICR::FingerParameters::operator= ( FingerParameters const & src )

Definition at line 226 of file finger.cpp.

void ICR::FingerParameters::setContactModelType ( ModelType model_type )

Definition at line 327 of file finger.cpp.

void ICR::FingerParameters::setContactModelType ( string & model_type )

void ICR::FingerParameters::setContactType ( ContactType contact_type )

Definition at line 310 of file finger.cpp.

void ICR::FingerParameters::setContactType ( string & contact_type )

Definition at line 314 of file finger.cpp.

void ICR::FingerParameters::setDiscretization ( uint d_in ) [inline]

Definition at line 174 of file finger.h.

void ICR::FingerParameters::setForce ( double f_in ) [inline]

Definition at line 170 of file finger.h.

void ICR::FingerParameters::setFriction ( double mu_in ) [inline]

Definition at line 171 of file finger.h.

void ICR::FingerParameters::setFrictionalContact	(	double	force_magnitude,
		uint	disc,
		double	mu_0
	)

Definition at line 286 of file finger.cpp.

void ICR::FingerParameters::setFrictionlessContact ( double force_magnitude )

Definition at line 279 of file finger.cpp.

void ICR::FingerParameters::setFrictionTorsional ( double mu_in ) [inline]

Definition at line 172 of file finger.h.

void ICR::FingerParameters::setInclusionRule ( InclusionRule const & inclusion_rule )

Definition at line 339 of file finger.cpp.

void ICR::FingerParameters::setInclusionRuleFilterPatch ( bool filter_inside_points )

Definition at line 354 of file finger.cpp.

void ICR::FingerParameters::setInclusionRuleParameter ( double rule_parameter )

Definition at line 352 of file finger.cpp.

void ICR::FingerParameters::setInclusionRuleType ( RuleType rule_type )

Definition at line 341 of file finger.cpp.

void ICR::FingerParameters::setInclusionRuleType ( string & rule_type )

void ICR::FingerParameters::setName ( string & name_in ) [inline]

Definition at line 168 of file finger.h.

void ICR::FingerParameters::setSoftFingerContact	(	double	force_magnitude,
		uint	disc,
		double	mu_0,
		double	mu_T
	)

Definition at line 297 of file finger.cpp.

Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	stream,
		FingerParameters const &	param
	)		`[friend]`

Definition at line 242 of file finger.cpp.

Member Data Documentation

ContactType ICR::FingerParameters::contact_type_ [private]

(undefined, f-less, frictinal, soft)

Definition at line 140 of file finger.h.

uint ICR::FingerParameters::disc_ [private]

Definition at line 137 of file finger.h.

double ICR::FingerParameters::force_magnitude_ [private]

Definition at line 136 of file finger.h.

InclusionRule ICR::FingerParameters::inclusion_rule_ [private]

in current implementation holds just a radius if ref ICR::MultiPointContactModel is chosen.

Definition at line 142 of file finger.h.

ModelType ICR::FingerParameters::model_type_ [private]

(undefined, single, patch -- multipoint)

Definition at line 141 of file finger.h.

double ICR::FingerParameters::mu_0_ [private]

friction coefficient

Definition at line 138 of file finger.h.

double ICR::FingerParameters::mu_T_ [private]

torsional friction coefficient

Definition at line 139 of file finger.h.

string ICR::FingerParameters::name_ [private]

Definition at line 135 of file finger.h.

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

Public Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation