ManipulationUtils Class Reference

#include <ManipulationUtils.hpp>

List of all members.

Static Public Member Functions
static void	undefinedRobotMessage ()
static void	undefinedObjectMessage ()
static void	undefinedSupportMessage ()
static void	undefinedCameraMessage ()
static void	printManipulationMessage (MANIPULATION_TASK_MESSAGE message)
static int	printConstraintInfo (p3d_rob *robot)
	Prints some info about a robot's contraints.
static int	forbidWindowEvents ()
static int	allowWindowEvents ()
static int	copyConfigToFORM (p3d_rob *robot, configPt q)
static bool	isValidVector (std::vector< double > ObjectPos)
static void	fixAllHands (p3d_rob *robot, configPt q, bool rest)
static void	unFixAllHands (p3d_rob *robot)
static void	fixManipulationJoints (p3d_rob *robot, int armId, configPt q, p3d_rob *object)
static void	unfixManipulationJoints (p3d_rob *robot, int armId)

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Detailed Description

Different general utils for manipulation

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Member Function Documentation

int ManipulationUtils::allowWindowEvents

(

)

[static]

Allows the interaction (keyboard and mouse) with the current window.

Returns:

0 in case of success, 1 otherwise

int ManipulationUtils::copyConfigToFORM	(	p3d_rob *	robot,
		configPt	q
	)		[static]

Copy the given configuration to the robot XForm window

Returns:

0 in case of success, 1 otherwise

void ManipulationUtils::fixAllHands	(	p3d_rob *	robot,
		configPt	q,
		bool	rest
	)		[static]

Fix the sampling of all the robots hands, desactivate hands self collisions and set the to rest configuration

void ManipulationUtils::fixManipulationJoints	(	p3d_rob *	robot,
		int	armId,
		configPt	q,
		p3d_rob *	object
	)		[static]

Fix the free flyer on the object pos. TODO: This function have to be changed to deal with cartesian mode (fix on the arm not on the object)

int ManipulationUtils::forbidWindowEvents

(

)

[static]

Forbids all the interaction (keyboard and mouse) with the current window.

Returns:

0 in case of success, 1 otherwise

bool ManipulationUtils::isValidVector

(

std::vector< double >

ObjectPos

)

[static]

Check if the given vector is valid or not

Returns:

true if the vector is valid false otherwise

void ManipulationUtils::unFixAllHands

(

p3d_rob *

robot

)

[static]

UnFix the sampling of all the robots hands, activate hands self collision

void ManipulationUtils::unfixManipulationJoints	(	p3d_rob *	robot,
		int	armId
	)		[static]

UnFix the free flyers

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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