Provides an interface for running Grasp Force Optimization routines. More...
#include <gfoDlg.h>
Public Slots | |
| void | exitButtonClicked () |
| void | handConfigurationChanged () |
| Performs the optimization routine after each hand config change. | |
| void | optimizationOnBoxClicked () |
Public Member Functions | |
| GFODlg (MainWindow *mw, Hand *h, QWidget *parent=0) | |
| ~GFODlg () | |
Private Member Functions | |
| void | compliantEquilibriumOptimization (bool useDynamicForce) |
| Calls the routine that computes contact forces that balance compliant joints. | |
| void | displayResults (int result) |
| Calls the ivmgr to display the forces and wrenched set by the optimization. | |
| void | graspForceOptimization (int computation) |
| Calls the GFO routine that computes both contact wrenches and joint torques. | |
| void | mcgripEquilibrium () |
| Checks if analytical tendon model correctly predicts equilibrium for McGrip. | |
| void | runOptimization () |
| Decides which optimization routine to run bases on what is selected in the combo box. | |
| void | tendonRouteOptimization () |
| Calls the tendon route optimization specific to the McGrip hand. | |
Private Attributes | |
| Hand * | mHand |
| The hand that is the target of the optimization. | |
| MainWindow * | mMainWindow |
| A pointer to the main window used to ask for an update of the contact list. | |
Provides an interface for running Grasp Force Optimization routines.
This dialog allows running some of the Grasp Force Optimization routines and display the results for visual inspection. The user can select the type of optimization to be performed; see the Grasp class for more details about the differences between these routines. If the optimization is enabled, the dialog will monitor the configuration of the hand and run the optimization after each change.
The contact forces that are computed through the optimization, as well as the resultant object wrench, are displayed visually through contact force indicators at each contat plus an object wrench at the object origin. The contacts, as well as their forces, are also displayed in the contact details area in the main window. The user can click on a contact in this are to cause it's associated force indicator to blink.
Definition at line 50 of file gfoDlg.h.
| GFODlg::GFODlg | ( | MainWindow * | mw, | |
| Hand * | h, | |||
| QWidget * | parent = 0 | |||
| ) |
Definition at line 47 of file gfoDlg.cpp.
| GFODlg::~GFODlg | ( | ) |
Definition at line 66 of file gfoDlg.cpp.
| void GFODlg::compliantEquilibriumOptimization | ( | bool | useDynamicForce | ) | [private] |
Calls the routine that computes contact forces that balance compliant joints.
Definition at line 178 of file gfoDlg.cpp.
| void GFODlg::displayResults | ( | int | result | ) | [private] |
Calls the ivmgr to display the forces and wrenched set by the optimization.
Definition at line 120 of file gfoDlg.cpp.
| void GFODlg::graspForceOptimization | ( | int | computation | ) | [private] |
Calls the GFO routine that computes both contact wrenches and joint torques.
Definition at line 186 of file gfoDlg.cpp.
| void GFODlg::handConfigurationChanged | ( | ) | [slot] |
Performs the optimization routine after each hand config change.
Definition at line 82 of file gfoDlg.cpp.
| void GFODlg::mcgripEquilibrium | ( | ) | [private] |
Checks if analytical tendon model correctly predicts equilibrium for McGrip.
Definition at line 139 of file gfoDlg.cpp.
| void GFODlg::optimizationOnBoxClicked | ( | ) | [slot] |
Definition at line 72 of file gfoDlg.cpp.
| void GFODlg::runOptimization | ( | ) | [private] |
Decides which optimization routine to run bases on what is selected in the combo box.
Definition at line 91 of file gfoDlg.cpp.
| void GFODlg::tendonRouteOptimization | ( | ) | [private] |
Calls the tendon route optimization specific to the McGrip hand.
Definition at line 149 of file gfoDlg.cpp.
Hand* GFODlg::mHand [private] |
MainWindow* GFODlg::mMainWindow [private] |
