Public Member Functions | Static Public Member Functions | Protected Attributes | Static Protected Attributes | List of all members
dynamicgraph::sot::GripperControl Class Reference

The goal of this entity is to ensure that the maximal torque will not be exceeded during a grasping task. If the maximal torque is reached, then the current position of the gripper is kept. More...

#include <gripper-control.hh>

Inheritance diagram for dynamicgraph::sot::GripperControl:
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Public Member Functions

dynamicgraph::VectorcomputeDesiredPosition (const dynamicgraph::Vector &currentPos, const dynamicgraph::Vector &desiredPos, const dynamicgraph::Vector &torques, const dynamicgraph::Vector &torqueLimits, dynamicgraph::Vector &referencePos)
 
void computeIncrement (const dynamicgraph::Vector &torques, const dynamicgraph::Vector &torqueLimits, const dynamicgraph::Vector &currentNormVel)
 Computes the. More...
 
 GripperControl (void)
 

Static Public Member Functions

static dynamicgraph::Vectorselector (const dynamicgraph::Vector &fullsize, const Flags &selec, dynamicgraph::Vector &desPos)
 select only some of the values of the vector fullsize, based on the Flags vector. More...
 

Protected Attributes

dynamicgraph::Vector factor
 The multiplication. More...
 
double offset
 

Static Protected Attributes

static const double OFFSET_DEFAULT = 0.9
 

Detailed Description

The goal of this entity is to ensure that the maximal torque will not be exceeded during a grasping task. If the maximal torque is reached, then the current position of the gripper is kept.

Definition at line 56 of file gripper-control.hh.

Constructor & Destructor Documentation

◆ GripperControl()

GripperControl::GripperControl ( void  )

Definition at line 44 of file gripper-control.cpp.

Member Function Documentation

◆ computeDesiredPosition()

dynamicgraph::Vector & GripperControl::computeDesiredPosition ( const dynamicgraph::Vector currentPos,
const dynamicgraph::Vector desiredPos,
const dynamicgraph::Vector torques,
const dynamicgraph::Vector torqueLimits,
dynamicgraph::Vector referencePos 
)

Definition at line 132 of file gripper-control.cpp.

◆ computeIncrement()

void GripperControl::computeIncrement ( const dynamicgraph::Vector torques,
const dynamicgraph::Vector torqueLimits,
const dynamicgraph::Vector currentNormVel 
)

Computes the.

Definition at line 96 of file gripper-control.cpp.

◆ selector()

dynamicgraph::Vector & GripperControl::selector ( const dynamicgraph::Vector fullsize,
const Flags selec,
dynamicgraph::Vector desPos 
)
static

select only some of the values of the vector fullsize, based on the Flags vector.

Definition at line 160 of file gripper-control.cpp.

Member Data Documentation

◆ factor

dynamicgraph::Vector dynamicgraph::sot::GripperControl::factor
protected

The multiplication.

Definition at line 61 of file gripper-control.hh.

◆ offset

double dynamicgraph::sot::GripperControl::offset
protected

Definition at line 58 of file gripper-control.hh.

◆ OFFSET_DEFAULT

const double GripperControl::OFFSET_DEFAULT = 0.9
staticprotected

Definition at line 59 of file gripper-control.hh.


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


sot-core
Author(s): Olivier Stasse, ostasse@laas.fr
autogenerated on Wed Jun 21 2023 02:51:27