Pincer Class Reference

#include <pincer.h>

Inheritance diagram for Pincer:

[legend]

List of all members.

Public Member Functions
void	DOFController (double timeStep)

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Detailed Description

Created for a 2 fingered hand while testing a DOF controller specifically designed for this hand.

Definition at line 38 of file pincer.h.

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Member Function Documentation

void Pincer::DOFController

(

double

timeStep

)

[virtual]

This grasp controller uses the generic robot DOF controller until contacts occur on the fingers. Then if there is a valid grip axis that lies within the friction cones of contacts on opposite fingers it will apply the approriate torques to prevent the grasped object from slipping out of the grasp.

Reimplemented from Robot.

Definition at line 41 of file pincer.cpp.

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

• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/pincer.h
• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/pincer.cpp