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libmove3d
3.13.0
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libmove3d
3.13.0
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#include <graspPlanning.h>
Public Member Functions | |
| int | initialize (gpHand_type hand_type) |
| struct rob * | initialize () |
| int | setThand_wrist (p3d_matrix4 T) |
| int | setArmType (gpArm_type arm_type) |
| int | draw (p3d_matrix4 pose) |
Public Attributes | |
| gpHand_type | type |
| unsigned int | nb_fingers |
| unsigned int | nb_dofs |
| number of active DOFs of the hand | |
| double | fingertip_radius |
| radius of the fingertips or approximative half-width of the distal phalanges | |
| p3d_matrix4 | Tgrasp_frame_hand |
| p3d_matrix4 | Thand_wrist |
| double | edgeAngleThreshold |
| values used to discard contacts close to sharp edges as unstable | |
| double | edgeDistanceThreshold |
| unsigned int | nb_positions |
| discretization parameters that will be given to the grasp generation function: | |
| unsigned int | nb_directions |
| unsigned int | nb_rotations |
| unsigned int | max_nb_grasp_frames |
| std::vector< double > | qmin |
| vector of the minimal and maximal bounds on joint parameters | |
| std::vector< double > | qmax |
| std::vector< double > | qrest |
| vector of a "rest" configuration of the hand | |
| std::vector< double > | qopen |
| vector to reach from a given grasp configuration in order to find an pregrasp configuration | |
| double | fingertip_distance |
| double | min_opening |
| double | max_opening |
| double | min_opening_jnt_value |
| double | max_opening_jnt_value |
| double | joint_fingertip_distance |
| double | length_thumbBase |
| double | length_proxPha |
| double | length_midPha |
| double | length_distPha |
| p3d_matrix4 | Twrist_finger [4] |
| transformation matrices wrist frame (= hand's reference frame) -> finger base frame | |
| std::vector< class gpSphere > | workspace |
| joint limits of the four fingers: maybe deprecated (check this) | |
Class containing information about a given hand (type, dimensions). Some fields will be used or not depending on the kind of hand.
| int gpHand_properties::draw | ( | p3d_matrix4 | pose | ) |
Draws different things that allow to visualize the dimension settings in a gpHand_properties class by comparing the displayed things to the display of the Move3D model. Must be used in an OpenGL context.
| pose | the frame the things will be drawn in relatively to. Use the robot's wrist frame for instance. |
| int gpHand_properties::initialize | ( | gpHand_type | hand_type | ) |
Initializes the geometric info for the selected hand type. NB: The convention for the wrist frame of the SAHands is (view from top, with direct frames): Z Z ^ ^ | | | | || || || || || || || || || / / \ \ || || || ||_||_|| / / \ \ ||_||_|| | / ---> Y Y <--- \ | |__LEFT__/ |__RIGHT_|
| p3d_rob * gpHand_properties::initialize | ( | ) | [read] |
Initializes a gpHand_properties variable. The function explores all the existing robots to find those with the specific names defined in graspPlanning.h The hand type is deduced from these names.
| int gpHand_properties::setArmType | ( | gpArm_type | arm_type | ) |
Sets the arm the hand is supposed to be mounted on. It is used to set Thand_wrist to one of some predefined values. Default values are set when calling initialize() (for now they correspond to how the gripper or the SAHand are mounted on the PA-10).
| arm_type | the desired arm type |
| int gpHand_properties::setThand_wrist | ( | p3d_matrix4 | T | ) |
Sets the matrix used to compute the arm wrist position from a given hand frame. It depends on how the hand is linked to the arm and on the convention used for the arm's kinematics. Default values are set when calling initialize() (for now they correspond to how the gripper or the SAHand are mounted on the PA-10).
| T | the new value of Thand_wrist |
values used to discard contacts close to sharp edges as unstable
if the angle at an edge is sharper than this value (in radians), the edge is considered as sharp
a contact is considered as close to an edge if the distance to this edge is smaller than this value
distance between the two first fingers (the ones on the same U-shaped body)
distance from the gripper's joint to the middle of the fingerpads
SAHAND/////////////////////////////////////////////////// lengths of the thumb's first phalanx and of the proximal, middle et distal phalanges:
minimal distance between the gripper's jaws (maximal opening)
the value of the gripper joint's DOF when the gripper opening is maximal
minimal distance between the gripper's jaws (minimal opening)
the value of the gripper joint's DOF when the gripper opening is minimal
| p3d_matrix4 gpHand_properties::Tgrasp_frame_hand |
matrix that will give the hand position from a given grasp frame. It depends on the convention used for the hand robot model. grasp_frame*Tgrasp_frame_hand --> hand_frame
| p3d_matrix4 gpHand_properties::Thand_wrist |
matrix that will give the arm wrist position from a given hand frame. It depends on how the hand is linked to the arm and on the convention used for the arm's kinematics. hand_frame*Thand_wrist --> arm's wrist frame
| std::vector<class gpSphere> gpHand_properties::workspace |
joint limits of the four fingers: maybe deprecated (check this)
approximation of the finger workspace by a set of spheres:
1.7.5.1
