hpp::pinocchio::Gripper Class Reference

#include <hpp/pinocchio/gripper.hh>

Public Member Functions
const JointPtr_t &	joint () const
	Get joint to which the gripper is attached.
const FrameIndex &	frameId () const
	Get the frame Id of the gripper in the vector of frame of the Model.
const Transform3s &	objectPositionInJoint () const
	Get handle position in the the Grippering joint.
const std::string &	name () const
	get name
value_type	clearance () const
void	clearance (const value_type &clearance)
GripperPtr_t	clone () const
std::ostream &	print (std::ostream &os) const

Static Public Member Functions
static GripperPtr_t	create (const std::string &name, const DevicePtr_t &device)
static GripperPtr_t	createCopy (const GripperPtr_t &gripper, const DevicePtr_t &otherDevice)

Protected Member Functions
	Gripper (const std::string &name, const DevicePtr_t &device)
void	init (GripperWkPtr_t weakPtr)

Detailed Description

Definition of a robot gripper

This class represent a robot gripper as a frame attached to the joint of the robot that holds the gripper.

To graps a box-shaped object with small lengths along x and y, the gripper frame should coincide with the object frame.

Constructor & Destructor Documentation

Gripper()

hpp::pinocchio::Gripper::Gripper ( const std::string & name, const DevicePtr_t & device )

protected

Constructor

Parameters

name	of the gripper in the device,
device

Todo

device should be of type DeviceConstPtr_t but the constructor of JointPtr_t needs a DevicePtr_t.

Member Function Documentation

clearance() [1/2]

value_type hpp::pinocchio::Gripper::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::pinocchio::Gripper::clearance ( const value_type & clearance )

inline

Set the clearance

See also

clearance()

clone()

GripperPtr_t hpp::pinocchio::Gripper::clone

(

)

const

create()

GripperPtr_t hpp::pinocchio::Gripper::create ( const std::string & name, const DevicePtr_t & device )

inlinestatic

Return a shared pointer to new instance

Parameters

name	of the gripper in the device,
device

createCopy()

GripperPtr_t hpp::pinocchio::Gripper::createCopy ( const GripperPtr_t & gripper, const DevicePtr_t & otherDevice )

inlinestatic

frameId()

const FrameIndex & hpp::pinocchio::Gripper::frameId ( ) const

inline

Get the frame Id of the gripper in the vector of frame of the Model.

init()

void hpp::pinocchio::Gripper::init ( GripperWkPtr_t weakPtr )

inlineprotected

joint()

const JointPtr_t & hpp::pinocchio::Gripper::joint ( ) const

inline

Get joint to which the gripper is attached.

name()

const std::string & hpp::pinocchio::Gripper::name ( ) const

inline

get name

objectPositionInJoint()

const Transform3s & hpp::pinocchio::Gripper::objectPositionInJoint

(

)

const

Get handle position in the the Grippering joint.

print()

std::ostream & hpp::pinocchio::Gripper::print

(

std::ostream &

os

)

const

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

• include/hpp/pinocchio/gripper.hh