Public Member Functions
	ArmManipulationData (int id=0, p3d_cntrt ccCntrt=NULL, p3d_cntrt fkCntrt=NULL, p3d_jnt *manipulationJnt=NULL, int cartesianGroup=-1, int cartesianSmGroup=-1, int handGroup=-1, int handSmGroup=-1)
void	fixHand (p3d_rob *robot, bool rest)
void	unFixHand (p3d_rob *robot)
void	deactivateManipulationCntrts (p3d_rob *robot)
void	setId (int id)
void	setCcCntrt (p3d_cntrt *ccCntrt)
void	setCcCntrt (p3d_rob *robot, int id)
void	setFkCntrt (p3d_cntrt *fkCntrt)
void	setFkCntrt (p3d_rob *robot, int id)
void	setManipulationJnt (p3d_jnt *manipulationJnt)
void	setManipulationJnt (p3d_rob *robot, int manipulationJnt)
void	setAttachFrame (p3d_matrix4 tAtt)
void	setCarriedObject (p3d_rob *carriedObject)
void	setCarriedObject (const char *robotName)
void	setPlacement (p3d_rob *placement)
void	setHuman (p3d_rob *human)
void	setCartesian (bool cartesian)
int	getId ()
p3d_cntrt *	getCcCntrt (void) const
p3d_cntrt *	getFkCntrt (void) const
p3d_jnt *	getManipulationJnt (void) const
void	getAttachFrame (p3d_matrix4 tAtt) const
p3d_rob *	getCarriedObject (void) const
p3d_rob *	getPlacement (void) const
p3d_rob *	getHuman (void) const
bool	getCartesian (void) const

Detailed Description

This Class contains all necessessary data to specify a arm to manipulate with it

Member Function Documentation

void ArmManipulationData::deactivateManipulationCntrts ( p3d_rob * robot )

Deactivate the closed and direct kinematic constraints of an arm

void ArmManipulationData::fixHand	(	p3d_rob *	robot,
		bool	rest
	)

Fix hand dof, Disable autocollisions, and set the arm to rest configuration

void ArmManipulationData::unFixHand ( p3d_rob * robot )

Unfix hand dof, Enable autocollisions

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

/home/slemaign/softs-local/BioMove3D-git/lightPlanner/proto/ManipulationUtils.hpp
/home/slemaign/softs-local/BioMove3D-git/lightPlanner/ManipulationUtils.cpp