FingerKinematics< N > Class Template Reference

#include <FingerKinematics.h>

List of all members.

Public Types
typedef Eigen::Matrix< double, N, N >	JacobianType
typedef Eigen::Matrix< double, N, 1 >	JointVectorType
typedef Eigen::Matrix< double, N, N+1 >	ReferenceMatrixTransposeInverseType
typedef Eigen::Matrix< double, N+1, N >	ReferenceMatrixTransposeType
typedef Eigen::Matrix< double, N, N+1 >	ReferenceMatrixType
typedef Eigen::Matrix< double, N+1, 1 >	SliderVectorType
Public Member Functions
void	calcJacobian (const JointVectorType &jointPos, const JointVectorType &xy, const bool isLeft, JacobianType &jacobian)
double	calculateInternalTension (const SliderVectorType &actualTensions)
double	findDesiredInternalTension (const double &fmin, const double &fmax, JointVectorType &jointTorques)
	FingerKinematics ()
void	forceToJointTorque (const JacobianType &jacobian, const JointVectorType &force, JointVectorType &jointTorque)
void	forward (const SliderVectorType &sliderPositions, JointVectorType &jointPositions)
void	inverse (const JointVectorType &jointPositions, SliderVectorType &sliderPositions)
void	jointSpaceTorqueFeedback (const JointVectorType &torqueError, const JointVectorType &jointKp, const double &tensionError, const double &tensionKp, SliderVectorType &desiredSliders)
void	jointToCartesian (const JointVectorType &jointPositions, const bool isLeft, JointVectorType &xy)
void	projectToRangeSpace (const SliderVectorType &sliderPositions_in, SliderVectorType &sliderPositions_out)
void	setReferenceMatrix (const ReferenceMatrixType &refMatrix_in)
void	tensionToJointTorque (const SliderVectorType &actualTensions, JointVectorType &jointTorques)
virtual	~FingerKinematics ()
Private Attributes
SliderVectorType	nullSpaceVector
ReferenceMatrixType	referenceMatrix
ReferenceMatrixTransposeType	referenceMatrixTranspose
ReferenceMatrixTransposeInverseType	referenceMatrixTransposeInverse
std::stringstream	str

---

Detailed Description

template<unsigned int N>
class FingerKinematics< N >

Definition at line 15 of file FingerKinematics.h.

---

Member Typedef Documentation

template<unsigned int N>

typedef Eigen::Matrix<double, N, N> FingerKinematics< N >::JacobianType

Definition at line 24 of file FingerKinematics.h.

template<unsigned int N>

typedef Eigen::Matrix<double, N, 1> FingerKinematics< N >::JointVectorType

Definition at line 19 of file FingerKinematics.h.

template<unsigned int N>

typedef Eigen::Matrix< double, N, N + 1 > FingerKinematics< N >::ReferenceMatrixTransposeInverseType

Definition at line 23 of file FingerKinematics.h.

template<unsigned int N>

typedef Eigen::Matrix< double, N + 1, N > FingerKinematics< N >::ReferenceMatrixTransposeType

Definition at line 22 of file FingerKinematics.h.

template<unsigned int N>

typedef Eigen::Matrix< double, N, N + 1 > FingerKinematics< N >::ReferenceMatrixType

Definition at line 21 of file FingerKinematics.h.

template<unsigned int N>

typedef Eigen::Matrix< double, N + 1, 1 > FingerKinematics< N >::SliderVectorType

Definition at line 20 of file FingerKinematics.h.

---

Constructor & Destructor Documentation

template<unsigned int N>

FingerKinematics< N >::FingerKinematics

(

)

Definition at line 51 of file FingerKinematics.h.

template<unsigned int N>

virtual FingerKinematics< N >::~FingerKinematics

(

)

[inline, virtual]

Definition at line 27 of file FingerKinematics.h.

---

Member Function Documentation

template<unsigned int N>

void FingerKinematics< N >::calcJacobian	(	const JointVectorType &	jointPos,
		const JointVectorType &	xy,
		const bool	isLeft,
		JacobianType &	jacobian
	)

Definition at line 232 of file FingerKinematics.h.

template<unsigned int N>

double FingerKinematics< N >::calculateInternalTension

(

const SliderVectorType &

actualTensions

)

Definition at line 127 of file FingerKinematics.h.

template<unsigned int N>

double FingerKinematics< N >::findDesiredInternalTension	(	const double &	fmin,
		const double &	fmax,
		JointVectorType &	jointTorques
	)

Definition at line 133 of file FingerKinematics.h.

template<unsigned int N>

void FingerKinematics< N >::forceToJointTorque	(	const JacobianType &	jacobian,
		const JointVectorType &	force,
		JointVectorType &	jointTorque
	)

Definition at line 349 of file FingerKinematics.h.

template<unsigned int N>

void FingerKinematics< N >::forward	(	const SliderVectorType &	sliderPositions,
		JointVectorType &	jointPositions
	)

Definition at line 102 of file FingerKinematics.h.

template<unsigned int N>

void FingerKinematics< N >::inverse	(	const JointVectorType &	jointPositions,
		SliderVectorType &	sliderPositions
	)

Definition at line 108 of file FingerKinematics.h.

template<unsigned int N>

void FingerKinematics< N >::jointSpaceTorqueFeedback	(	const JointVectorType &	torqueError,
		const JointVectorType &	jointKp,
		const double &	tensionError,
		const double &	tensionKp,
		SliderVectorType &	desiredSliders
	)

Definition at line 225 of file FingerKinematics.h.

template<unsigned int N>

void FingerKinematics< N >::jointToCartesian	(	const JointVectorType &	jointPositions,
		const bool	isLeft,
		JointVectorType &	xy
	)

Definition at line 301 of file FingerKinematics.h.

template<unsigned int N>

void FingerKinematics< N >::projectToRangeSpace	(	const SliderVectorType &	sliderPositions_in,
		SliderVectorType &	sliderPositions_out
	)

Definition at line 114 of file FingerKinematics.h.

template<unsigned int N>

void FingerKinematics< N >::setReferenceMatrix

(

const ReferenceMatrixType &

refMatrix_in

)

Definition at line 56 of file FingerKinematics.h.

template<unsigned int N>

void FingerKinematics< N >::tensionToJointTorque	(	const SliderVectorType &	actualTensions,
		JointVectorType &	jointTorques
	)

Definition at line 121 of file FingerKinematics.h.

---

Member Data Documentation

template<unsigned int N>

SliderVectorType FingerKinematics< N >::nullSpaceVector [private]

Definition at line 47 of file FingerKinematics.h.

template<unsigned int N>

ReferenceMatrixType FingerKinematics< N >::referenceMatrix [private]

Definition at line 44 of file FingerKinematics.h.

template<unsigned int N>

ReferenceMatrixTransposeType FingerKinematics< N >::referenceMatrixTranspose [private]

Definition at line 45 of file FingerKinematics.h.

template<unsigned int N>

ReferenceMatrixTransposeInverseType FingerKinematics< N >::referenceMatrixTransposeInverse [private]

Definition at line 46 of file FingerKinematics.h.

template<unsigned int N>

std::stringstream FingerKinematics< N >::str [private]

Definition at line 17 of file FingerKinematics.h.

---

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

• FingerKinematics.h