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 BHand *	bhCreateRightHand ()
	Creates an instance of Allegro Hand control algorithm. It is for right hand.

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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.

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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.

enum eMotionType

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.

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Function Documentation

BHAND_EXTERN_C_BEGIN BHANDEXPORT BHand* bhCreateLeftHand

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)

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

BHANDEXPORT BHand* bhCreateRightHand

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)

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