#include <hpp/manipulation/handle.hh>

Public Member Functions
virtual	~Handle ()
virtual HandlePtr_t	clone () const
	Return a pointer to the copy of this.
const Transform3s &	localPosition () const
	Get local position in joint frame.
void	localPosition (const Transform3s &localPosition)
	Set local position in joint frame.
void	mask (const std::vector< bool > &mask)
	Set constraint mask.
const std::vector< bool > &	mask () const
void	maskComp (const std::vector< bool > &mask)
	Set mask of complement constraint.
const std::vector< bool > &	maskComp () const
	Get mask of complement constraint.
virtual ImplicitPtr_t	createGrasp (const GripperPtr_t &gripper, std::string name) const
virtual ImplicitPtr_t	createGraspComplement (const GripperPtr_t &gripper, std::string name) const
virtual ImplicitPtr_t	createGraspAndComplement (const GripperPtr_t &gripper, std::string name) const
virtual ImplicitPtr_t	createPreGrasp (const GripperPtr_t &gripper, const value_type &shift, std::string name) const
value_type	clearance () const
void	clearance (const value_type &clearance)
const vector3_t &	approachingDirection () const
void	approachingDirection (const vector3_t &dir)
Name
const std::string &	name () const
	Get name.
void	name (const std::string &n)
	Set name.
Joint
const JointPtr_t &	joint () const
	Get joint to which the handle is linked.
void	joint (const JointPtr_t &joint)
	Set joint to which the handle is linked.
DevicePtr_t	robot () const

Static Public Member Functions
static HandlePtr_t	create (const std::string &name, const Transform3s &pose, const DeviceWkPtr_t &robot, const JointPtr_t &joint)

Static Public Attributes
static std::string	className

Protected Member Functions
	Handle (const std::string &name, const Transform3s &pose, const DeviceWkPtr_t &robot, const JointPtr_t &joint)
void	init (HandleWkPtr_t weakPtr)
virtual std::ostream &	print (std::ostream &os) const

Friends
std::ostream &	operator<< (std::ostream &os, const Handle &handle)

Detailed Description

Frame attached to an object that is aimed at being grasped

Together with a hpp::pinocchio::Gripper, a handle defines a grasp. A vector of 6 Boolean values called a mask can be passed to the constructor to define the symmetries of the handle. For example, {True,True,True,False,True,True} means that the handle can be grasped with free orientation around x-axis. See https://hal.laas.fr/hal-02995125v2 for details. The setter method mask allows users to define the mask.

Along motions where the handle is grasped by a gripper, an additional constraint is enforced, called the complement constraint. This latter constraint ensures that the object is rigidly fixed to the gripper.

However, for some applications, the complement constraint can be customized using setter maskComp. Note that calling setter method mask reinitializes the mask complement.

Constructor & Destructor Documentation

◆ ~Handle()

virtual hpp::manipulation::Handle::~Handle ( )

inlinevirtual

◆ Handle()

hpp::manipulation::Handle::Handle	(	const std::string &	name,
		const Transform3s &	pose,
		const DeviceWkPtr_t &	robot,
		const JointPtr_t &	joint )

inlineprotected

Constructor

Parameters

name	name of the handle,
pose	pose of the handle frame in the joint frame,
robot	kinematic chain containing the robot or object the handle is attached to,
joint	Joint to which the handle is attached.

Member Function Documentation

◆ approachingDirection() [1/2]

const vector3_t & hpp::manipulation::Handle::approachingDirection ( ) const

inline

Get approaching direction for pregrasp Default is x-axis (1, 0, 0)

◆ approachingDirection() [2/2]

void hpp::manipulation::Handle::approachingDirection ( const vector3_t & dir )

inline

Set approaching direction for pregrasp

Parameters

dir	unit vector defining the approach direction in handle frame

◆ clearance() [1/2]

value_type hpp::manipulation::Handle::clearance ( ) const

inline

Get the clearance

The clearance is a distance, from the center of the gripper and along the x-aixs, that "ensures" an object being at that distance is not colliding with this gripper. It also gives an order of magnitude of the size of the gripper.

◆ clearance() [2/2]

void hpp::manipulation::Handle::clearance ( const value_type & clearance )

inline

Set the clearance

See also: clearance()

◆ clone()

virtual HandlePtr_t hpp::manipulation::Handle::clone ( ) const

virtual

Return a pointer to the copy of this.

◆ create()

HandlePtr_t hpp::manipulation::Handle::create	(	const std::string &	name,
		const Transform3s &	pose,
		const DeviceWkPtr_t &	robot,
		const JointPtr_t &	joint )

inlinestatic

Create Handle

Parameters

name	name of the handle,
pose	pose of the handle frame in the joint frame,
robot	kinematic chain containing the robot or object the handle is attached to,
joint	joint to which the handle is attached,

Returns: a shared pointer to the new handle.

◆ createGrasp()

virtual ImplicitPtr_t hpp::manipulation::Handle::createGrasp	(	const GripperPtr_t &	gripper,
		std::string	name ) const

virtual

Create constraint corresponding to a gripper grasping this handle

Parameters

gripper object containing the gripper information

Returns: the constraint of relative transformation between the handle and the gripper. The degrees of freedom of the relative transformation that are constrained are determined by the mask.

See also: constraints::Implicit::mask. The constraint is not parameterizable (has constant right hand side).

◆ createGraspAndComplement()

virtual ImplicitPtr_t hpp::manipulation::Handle::createGraspAndComplement	(	const GripperPtr_t &	gripper,
		std::string	name ) const

virtual

Create constraint composed of grasp constraint and its complement

Parameters

gripper object containing the gripper information

Returns: the composition of grasp constraint and its complement, that that is a full relative transformation constraint.

◆ createGraspComplement()

virtual ImplicitPtr_t hpp::manipulation::Handle::createGraspComplement	(	const GripperPtr_t &	gripper,
		std::string	name ) const

virtual

Create complement constraint of gripper grasping this handle

Parameters

gripper object containing the gripper information

Returns: complement constraint: constraint combined with its complement constitute a full relative transformation constraint. The complement constraint is parameterizable (has non constant right hand side).

◆ createPreGrasp()

virtual ImplicitPtr_t hpp::manipulation::Handle::createPreGrasp	(	const GripperPtr_t &	gripper,
		const value_type &	shift,
		std::string	name ) const

virtual

Create constraint corresponding to a pregrasping task.

Parameters

gripper object containing the gripper information

Returns: the constraint of relative transformation between the handle and the gripper.

Note: 6 DOFs of the relative transformation between the handle and the gripper are constrained. The transformation is shifted along x-axis of value shift.

◆ init()

void hpp::manipulation::Handle::init ( HandleWkPtr_t weakPtr )

inlineprotected

◆ joint() [1/2]

const JointPtr_t & hpp::manipulation::Handle::joint ( ) const

inline

Get joint to which the handle is linked.

◆ joint() [2/2]

void hpp::manipulation::Handle::joint ( const JointPtr_t & joint )

inline

Set joint to which the handle is linked.

◆ localPosition() [1/2]

const Transform3s & hpp::manipulation::Handle::localPosition ( ) const

inline

Get local position in joint frame.

◆ localPosition() [2/2]

void hpp::manipulation::Handle::localPosition ( const Transform3s & localPosition )

inline

Set local position in joint frame.

◆ mask() [1/2]

const std::vector< bool > & hpp::manipulation::Handle::mask ( ) const

inline

Get constraint mask See mask(const std::vector<bool>&)

◆ mask() [2/2]

void hpp::manipulation::Handle::mask ( const std::vector< bool > & mask )

Set constraint mask.

◆ maskComp() [1/2]

const std::vector< bool > & hpp::manipulation::Handle::maskComp ( ) const

inline

Get mask of complement constraint.

◆ maskComp() [2/2]

void hpp::manipulation::Handle::maskComp ( const std::vector< bool > & mask )

Set mask of complement constraint.

◆ name() [1/2]

const std::string & hpp::manipulation::Handle::name ( ) const

inline

Get name.

◆ name() [2/2]

void hpp::manipulation::Handle::name ( const std::string & n )

inline

Set name.

◆ print()

virtual std::ostream & hpp::manipulation::Handle::print ( std::ostream & os ) const

protectedvirtual

◆ robot()

DevicePtr_t hpp::manipulation::Handle::robot ( ) const

inline

◆ operator<<

std::ostream & operator<<	(	std::ostream &	os,
		const Handle &	handle )

friend

Member Data Documentation

◆ className

std::string hpp::manipulation::Handle::className

static

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

include/hpp/manipulation/handle.hh

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ ~Handle()

◆ Handle()

Member Function Documentation

◆ approachingDirection() [1/2]

◆ approachingDirection() [2/2]

◆ clearance() [1/2]

◆ clearance() [2/2]

◆ clone()

◆ create()

◆ createGrasp()

◆ createGraspAndComplement()

◆ createGraspComplement()

◆ createPreGrasp()

◆ init()

◆ joint() [1/2]

◆ joint() [2/2]

◆ localPosition() [1/2]

◆ localPosition() [2/2]

◆ mask() [1/2]

◆ mask() [2/2]

◆ maskComp() [1/2]

◆ maskComp() [2/2]

◆ name() [1/2]

◆ name() [2/2]

◆ print()

◆ robot()

Friends And Related Symbol Documentation

◆ operator<<

Member Data Documentation

◆ className