Hand Class Reference

Artificial Hand. More...

#include <hand.h>

Inherits lpzrobots::OdeRobot.

Collaboration diagram for Hand:

[legend]

List of all members.

Public Member Functions
	Hand (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const HandConf &conf, const std::string &name)
	constructor of hand
virtual void	update ()
	update the subcomponents
virtual void	place (const osg::Matrix &pose)
	sets the pose of the vehicle
virtual void	doInternalStuff (GlobalData &globalData)
	this function is called in each timestep.
virtual int	getSensors (sensor *sensors, int sensornumber)
	returns actual sensorvalues
virtual void	setMotors (const motor *motors, int motornumber)
	sets actual motorcommands
virtual int	getSensorNumber ()
	returns number of sensors
virtual int	getMotorNumber ()
	returns number of motors
virtual void	notifyOnChange (const paramkey &key)
	returns a vector with the positions of all segments of the robot
Static Public Member Functions
static HandConf	getDefaultConf ()
Protected Member Functions
virtual Primitive *	getMainPrimitive () const
	Returns the palm as the main object of the robot, which is used for position and speed tracking.
Protected Attributes
HandConf	conf
	configuration of hand
std::vector< OSGPrimitive * >	osg_objects
	vector containing OSGPrimitives
std::vector< IRSensor * >	ir_sensors
	vector containing Primitivesinfrared sensors
bool	contact_joint_created
	true if contact joint is created
std::vector< AngularMotor * >	frictionmotors
	vector of the joints used in hand
std::vector< HingeServo * >	servos
	vector of the used hinge servos
RaySensorBank	irSensorBank
	a collection of ir sensors
dSpaceID	hand_space
	space containing the hand
AngularMotor *	palm_motor_joint
	motorjoint for actuating the forearm_palm joint (ball joint)
AngularMotor *	thumb_motor_joint
	motorjoint for actuating the palm_thumb joint (ball joint)
HingeJoint *	thumb_bt
	Hinge Joint between thumb_buttom and thumb_top.
Joint *	palm_index
	Hinge Joint between buttom, center and top part of the index finger.
Joint *	index_bc
Joint *	index_ct
Joint *	palm_middle
	Hinge Joint between buttom, center and top part of the middle finger.
Joint *	middle_bc
Joint *	middle_ct
Joint *	palm_ring
	Hinge Joint between buttom, center and top part of the ring finger.
Joint *	ring_bc
Joint *	ring_ct
Joint *	palm_little
	Hinge Joint between buttom, center and top part of the little finger.
Joint *	little_bc
Joint *	little_ct
GripMode	gripmode
	for handling lateral and precision grip modes
Position	initial_pos
	initial position of robot
Pos	oldp
int	sensorno
int	motorno
int	sensor_number
paramval	factorForce
paramval	frictionGround
double	velocity

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Detailed Description

Artificial Hand.

---

Constructor & Destructor Documentation

Hand	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const HandConf &	conf,
		const std::string &	name
	)

constructor of hand

Parameters:

	odeHandle	data structure for accessing ODE
	osgHandle	ata structure for accessing OSG
	conf	configuration of robot

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Member Function Documentation

void doInternalStuff

(

GlobalData &

globalData

)

[virtual]

this function is called in each timestep.

It should perform robot-internal checks, like space-internal collision detection, sensor resets/update etc.

Parameters:

globalData

structure that contains global data from the simulation environment

Reimplemented from OdeRobot.

static HandConf getDefaultConf

(

)

[inline, static]

virtual Primitive* getMainPrimitive

(

)

const [inline, protected, virtual]

Returns the palm as the main object of the robot, which is used for position and speed tracking.

Reimplemented from OdeRobot.

int getMotorNumber

(

)

[virtual]

returns number of motors

Implements AbstractRobot.

int getSensorNumber

(

)

[virtual]

returns number of sensors

Implements AbstractRobot.

int getSensors	(	sensor *	sensors,
		int	sensornumber
	)			[virtual]

returns actual sensorvalues

Parameters:

	sensors	sensors scaled to [-1,1]
	sensornumber	length of the sensor array

Returns:

number of actually written sensors

Implements AbstractRobot.

void notifyOnChange

(

const paramkey &

key

)

[virtual]

returns a vector with the positions of all segments of the robot

Parameters:

poslist

vector of positions (of all robot segments)

Returns:

length of the list

Reimplemented from Configurable.

void place

(

const osg::Matrix &

pose

)

[virtual]

sets the pose of the vehicle

Parameters:

pose

desired 4x4 pose matrix

Implements OdeRobot.

void setMotors	(	const motor *	motors,
		int	motornumber
	)			[virtual]

sets actual motorcommands

Parameters:

	motors	motors scaled to [-1,1]
	motornumber	length of the motor array

Implements AbstractRobot.

void update

(

)

[virtual]

update the subcomponents

Implements OdeRobot.

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Member Data Documentation

HandConf conf [protected]

configuration of hand

bool contact_joint_created [protected]

true if contact joint is created

paramval factorForce [protected]

paramval frictionGround [protected]

std::vector<AngularMotor*> frictionmotors [protected]

vector of the joints used in hand

vector of the angular motors

GripMode gripmode [protected]

for handling lateral and precision grip modes

dSpaceID hand_space [protected]

space containing the hand

Joint * index_bc [protected]

Joint * index_ct [protected]

Position initial_pos [protected]

initial position of robot

std::vector<IRSensor*> ir_sensors [protected]

vector containing Primitivesinfrared sensors

RaySensorBank irSensorBank [protected]

a collection of ir sensors

Joint * little_bc [protected]

Joint * little_ct [protected]

Joint * middle_bc [protected]

Joint * middle_ct [protected]

int motorno [protected]

Pos oldp [protected]

std::vector<OSGPrimitive*> osg_objects [protected]

vector containing OSGPrimitives

Joint* palm_index [protected]

Hinge Joint between buttom, center and top part of the index finger.

Joint* palm_little [protected]

Hinge Joint between buttom, center and top part of the little finger.

Joint* palm_middle [protected]

Hinge Joint between buttom, center and top part of the middle finger.

AngularMotor* palm_motor_joint [protected]

motorjoint for actuating the forearm_palm joint (ball joint)

Joint* palm_ring [protected]

Hinge Joint between buttom, center and top part of the ring finger.

Joint * ring_bc [protected]

Joint * ring_ct [protected]

int sensor_number [protected]

int sensorno [protected]

std::vector<HingeServo*> servos [protected]

vector of the used hinge servos

HingeJoint* thumb_bt [protected]

Hinge Joint between thumb_buttom and thumb_top.

AngularMotor* thumb_motor_joint [protected]

motorjoint for actuating the palm_thumb joint (ball joint)

double velocity [protected]

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

• hand.h
• hand.cpp