Helper class for GazeboGraspFix which holds information for one arm. Attaches /detaches objects to the palm of this arm. More...
#include <GazeboGraspGripper.h>
Public Member Functions | |
| const std::string & | attachedObject () const |
| GazeboGraspGripper () | |
| GazeboGraspGripper (const GazeboGraspGripper &o) | |
| const std::string & | getGripperName () const |
| bool | HandleAttach (const std::string &objName) |
| void | HandleDetach (const std::string &objName) |
| bool | hasCollisionLink (const std::string &linkName) const |
| bool | hasLink (const std::string &linkName) const |
| bool | Init (physics::ModelPtr &_model, const std::string &_gripperName, const std::string &palmLinkName, const std::vector< std::string > &fingerLinkNames, bool _disableCollisionsOnAttach, std::map< std::string, physics::CollisionPtr > &_collisions) |
| bool | isObjectAttached () const |
| virtual | ~GazeboGraspGripper () |
Private Attributes | |
| bool | attached |
| std::string | attachedObjName |
| std::map< std::string, physics::CollisionPtr > | collisionElems |
| bool | disableCollisionsOnAttach |
| physics::JointPtr | fixedJoint |
| std::string | gripperName |
| std::vector< std::string > | linkNames |
| physics::ModelPtr | model |
| physics::LinkPtr | palmLink |
Helper class for GazeboGraspFix which holds information for one arm. Attaches /detaches objects to the palm of this arm.
Definition at line 23 of file GazeboGraspGripper.h.
Definition at line 23 of file GazeboGraspGripper.cpp.
| GazeboGraspGripper::GazeboGraspGripper | ( | const GazeboGraspGripper & | o | ) |
Definition at line 28 of file GazeboGraspGripper.cpp.
| GazeboGraspGripper::~GazeboGraspGripper | ( | ) | [virtual] |
Definition at line 40 of file GazeboGraspGripper.cpp.
| const std::string & GazeboGraspGripper::attachedObject | ( | ) | const |
Definition at line 119 of file GazeboGraspGripper.cpp.
| const std::string & GazeboGraspGripper::getGripperName | ( | ) | const |
Definition at line 94 of file GazeboGraspGripper.cpp.
| bool GazeboGraspGripper::HandleAttach | ( | const std::string & | objName | ) |
| gripContacts | contact forces on the object sorted by the link name colliding. |
Definition at line 129 of file GazeboGraspGripper.cpp.
| void GazeboGraspGripper::HandleDetach | ( | const std::string & | objName | ) |
Definition at line 171 of file GazeboGraspGripper.cpp.
| bool GazeboGraspGripper::hasCollisionLink | ( | const std::string & | linkName | ) | const |
Has the collision link name (Gazebo collision element name)
Definition at line 108 of file GazeboGraspGripper.cpp.
| bool GazeboGraspGripper::hasLink | ( | const std::string & | linkName | ) | const |
Has the link name (URDF)
Definition at line 99 of file GazeboGraspGripper.cpp.
| bool GazeboGraspGripper::Init | ( | physics::ModelPtr & | _model, |
| const std::string & | _gripperName, | ||
| const std::string & | palmLinkName, | ||
| const std::vector< std::string > & | fingerLinkNames, | ||
| bool | _disableCollisionsOnAttach, | ||
| std::map< std::string, physics::CollisionPtr > & | _collisions | ||
| ) |
| disableCollisionsOnAttach | when an object is attached, collisions with it will be disabled. This is useful if the robot then still keeps wobbling. |
Definition at line 46 of file GazeboGraspGripper.cpp.
| bool GazeboGraspGripper::isObjectAttached | ( | ) | const |
Definition at line 114 of file GazeboGraspGripper.cpp.
bool gazebo::GazeboGraspGripper::attached [private] |
Definition at line 85 of file GazeboGraspGripper.h.
std::string gazebo::GazeboGraspGripper::attachedObjName [private] |
Definition at line 87 of file GazeboGraspGripper.h.
std::map<std::string, physics::CollisionPtr> gazebo::GazeboGraspGripper::collisionElems [private] |
Definition at line 74 of file GazeboGraspGripper.h.
bool gazebo::GazeboGraspGripper::disableCollisionsOnAttach [private] |
Definition at line 82 of file GazeboGraspGripper.h.
physics::JointPtr gazebo::GazeboGraspGripper::fixedJoint [private] |
Definition at line 76 of file GazeboGraspGripper.h.
std::string gazebo::GazeboGraspGripper::gripperName [private] |
Definition at line 68 of file GazeboGraspGripper.h.
std::vector<std::string> gazebo::GazeboGraspGripper::linkNames [private] |
Definition at line 71 of file GazeboGraspGripper.h.
physics::ModelPtr gazebo::GazeboGraspGripper::model [private] |
Definition at line 65 of file GazeboGraspGripper.h.
physics::LinkPtr gazebo::GazeboGraspGripper::palmLink [private] |
Definition at line 78 of file GazeboGraspGripper.h.