finger_hand.h

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/*
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#ifndef FINGER_HAND_H
#define FINGER_HAND_H

#include <Eigen/Dense>
#include <iostream>
#include <vector>

class FingerHand
{
public:

  FingerHand()
  {
  }
        
  FingerHand(double finger_width, double hand_outer_diameter, double hand_depth);

  void evaluateFingers(double bite);
        
  void evaluateHand();
        
  void evaluateGraspParameters(double bite);
        
  void deepenHand(double init_deepness, double max_deepness);
        
  void setPoints(const Eigen::MatrixXd& points)
  {
    this->points_ = points;
  }
        
  double getHandDepth() const
  {
    return hand_depth_;
  }
        
  const Eigen::Array<bool, 1, Eigen::Dynamic>& getHand() const
  {
    return hand_;
  }
        
  const Eigen::Array<bool, 1, Eigen::Dynamic>& getFingers() const
  {
    return fingers_;
  }
        
  const Eigen::Vector2d& getGraspBottom() const
  {
    return grasp_bottom;
  }
        
  const Eigen::Vector2d& getGraspSurface() const
  {
    return grasp_surface;
  }
        
  double getGraspWidth() const
  {
    return grasp_width_;
  }
        
  double getBackOfHand() const
  {
    return back_of_hand_;
  }

private:

  double finger_width_; 
  double hand_outer_diameter_; 
  double hand_depth_; 

  double back_of_hand_; 

  double grasp_width_; 

  Eigen::VectorXd finger_spacing_; 
  Eigen::Array<bool, 1, Eigen::Dynamic> fingers_; 
  Eigen::Array<bool, 1, Eigen::Dynamic> hand_;
  Eigen::MatrixXd points_; 
  Eigen::Vector2d grasp_bottom; 
  Eigen::Vector2d grasp_surface; 
};

#endif