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:

[legend]

Public Member Functions
dynamicgraph::Vector &	computeDesiredPosition (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::Vector &	selector (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:

Public Member Functions

Static Public Member Functions

Protected Attributes

Static Protected Attributes