/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/Planner/grasp_preshape.h File Reference

Defines the class preshape , a pre-grasp hand shape (used in the grasp planner). More...

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Classes
class	preshape
	Holds the grasp preshape type and the DOF values for that presahpe. More...
Defines
#define	PR_circle_Angle   60.0
#define	PR_circle_F1   0.0
#define	PR_circle_F2   0.0
#define	PR_circle_F3   0.0
#define	PR_t_shape_Angle   90.0
#define	PR_t_shape_F1   0.0
#define	PR_t_shape_F2   0.0
#define	PR_t_shape_F3   0.0
#define	PR_three_opp_palm_Angle   180.0
#define	PR_three_opp_palm_F1   0.0
#define	PR_three_opp_palm_F2   0.0
#define	PR_three_opp_palm_F3   0.0
#define	PR_two_opp_one_Angle   0.0
#define	PR_two_opp_one_F1   0.0
#define	PR_two_opp_one_F2   0.0
#define	PR_two_opp_one_F3   0.0
Enumerations
enum	preshapeType {   PR_None, PR_circle, PR_two_opp_one, PR_three_opp_palm,   PR_t_shape }

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Detailed Description

Defines the class preshape , a pre-grasp hand shape (used in the grasp planner).

Definition in file grasp_preshape.h.

---

Define Documentation

#define PR_circle_Angle   60.0

Definition at line 42 of file grasp_preshape.h.

#define PR_circle_F1   0.0

Definition at line 43 of file grasp_preshape.h.

#define PR_circle_F2   0.0

Definition at line 44 of file grasp_preshape.h.

#define PR_circle_F3   0.0

Definition at line 45 of file grasp_preshape.h.

#define PR_t_shape_Angle   90.0

Definition at line 57 of file grasp_preshape.h.

#define PR_t_shape_F1   0.0

Definition at line 58 of file grasp_preshape.h.

#define PR_t_shape_F2   0.0

Definition at line 59 of file grasp_preshape.h.

#define PR_t_shape_F3   0.0

Definition at line 60 of file grasp_preshape.h.

#define PR_three_opp_palm_Angle   180.0

Definition at line 52 of file grasp_preshape.h.

#define PR_three_opp_palm_F1   0.0

Definition at line 53 of file grasp_preshape.h.

#define PR_three_opp_palm_F2   0.0

Definition at line 54 of file grasp_preshape.h.

#define PR_three_opp_palm_F3   0.0

Definition at line 55 of file grasp_preshape.h.

#define PR_two_opp_one_Angle   0.0

Definition at line 47 of file grasp_preshape.h.

#define PR_two_opp_one_F1   0.0

Definition at line 48 of file grasp_preshape.h.

#define PR_two_opp_one_F2   0.0

Definition at line 49 of file grasp_preshape.h.

#define PR_two_opp_one_F3   0.0

Definition at line 50 of file grasp_preshape.h.

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Enumeration Type Documentation

enum preshapeType

The 4 main preshape types for the Barrett hand are:

• PR_two_opp_one where the spread angle is 0, so that 2 fingers oppose the thumb
• PR_circle where the spread angle is 60 degrees resulting in 120 degrees between each finger
• PR_t_shape where the spread angle is 90 so that the 2 fingers oppose each other directly and the thumb is 90 degrees away from each of them.
• PR_three_opp_palm where the spread angle is 180, so that all 3 fingers are together and oppose the palm

Enumerator:

PR_None
PR_circle
PR_two_opp_one
PR_three_opp_palm
PR_t_shape

Definition at line 68 of file grasp_preshape.h.