/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/mcGrip.h

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//######################################################################
//
// GraspIt!
// Copyright (C) 2002-2009  Columbia University in the City of New York.
// All rights reserved.
//
// GraspIt! is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// GraspIt! is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with GraspIt!.  If not, see <http://www.gnu.org/licenses/>.
//
// Author(s):  Matei Ciocarlie 
//
// $Id: mcGrip.h,v 1.6 2009/09/12 00:14:55 cmatei Exp $
//
//######################################################################

#ifndef _mcgrip_h_
#define _mcgrip_h_

#include <vector>

#include "humanHand.h"
#include "grasp.h"

class Matrix;
class Joint;


class McGrip : public HumanHand
{
        Q_OBJECT
private:

        void assembleTorqueMatrices(int refJointNum, int thisJointNum, int nextJointNum,
                                                                double tx, double ty,
                                                                double theta, double theta_n,
                                                                Matrix &B, Matrix &a);

        double mLinkLength;
        double mJointRadius;

public:
        McGrip(World *w,const char *name);

        void getRoutingMatrices(Matrix **B, Matrix **a);

        void getJointDisplacementMatrix(Matrix **J);

        double getLinkLength() const {return mLinkLength;}

        double getJointRadius() const {return mJointRadius;}

        virtual int loadFromXml(const TiXmlElement* root,QString rootPath);

        int jointTorqueEquilibrium();
};

class McGripGrasp : public Grasp
{
        Q_OBJECT
public:
        McGripGrasp(Hand *h) : Grasp(h) {
                assert(h->isA("McGrip"));
        }

        int tendonAndHandOptimization(Matrix *parameters, double &objValRet);

        int computeQuasistaticForces(double tendonForce);
};

#endif

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graspit
Author(s):
autogenerated on Wed Jan 25 10:58:51 2012