Hand Class Reference

#include <hand.h>

Inheritance diagram for Hand:

[legend]Collaboration diagram for Hand:


Public Member Functions
	Hand (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const HandConf &conf, const std::string &name)
	Constructor.
virtual void	update ()
	update the subcomponents
virtual void	place (const osg::Matrix &pose)
	sets the pose of the vehicle
virtual bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)
	checks for internal collisions and treats them.
virtual void	doInternalStuff (const 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 paramlist	getParamList () const
	The list of all parameters with there value as allocated lists.
virtual paramval	getParam (const paramkey &key) const
	returns the value of the requested parameter or 0 (+ error message to stderr) if unknown.
virtual bool	setParam (const paramkey &key, paramval val)
	sets the value of the given parameter or does nothing if unknown.
Static Public Member Functions
HandConf	getDefaultConf ()
Static Public Attributes
double	palm_torque
double	finger_force
Protected Member Functions
virtual Primitive *	getMainPrimitive () const
	the main object of the robot, which is used for position and speed tracking
Protected Attributes
HandConf	conf
std::vector< Primitive * >	objects
std::vector< OSGPrimitive * >	osg_objects
std::vector< IRSensor * >	ir_sensors
bool	contact_joint_created
std::vector< Joint * >	joints
std::vector< AngularMotor * >	frictionmotors
std::vector< HingeServo * >	servos
RaySensorBank	irSensorBank
Primitive *	p
Joint *	j
dSpaceID	hand_space
AngularMotor *	palm_motor_joint
AngularMotor *	thumb_motor_joint
Joint *	fix_forearm_joint
double	thumb1
double	thumb2
double	thumb3
GripMode	gripmode
Position	initial_pos
int	NUM
double	MASS
double	RADIUS
Pos	oldp
int	sensorno
int	motorno
int	sensor_number
paramval	factorForce
paramval	frictionGround
double	velocity
double	power
Private Member Functions
virtual void	create (const osg::Matrix &pose)
	returns a vector with the positions of all segments of the robot
virtual void	destroy ()
	destroys robot
Static Private Member Functions
void	mycallback (void *data, dGeomID o1, dGeomID o2)
Private Attributes
bool	created

Detailed Description

Artificial Hand.

Constructor & Destructor Documentation

Hand ( const OdeHandle & odeHandle,

const OsgHandle & osgHandle,

const HandConf & conf,

const std::string & name

)

Constructor.

Parameters:

w world in which robot should be created

s space in which robot should be created

c contactgroup for collision treatment

Member Function Documentation

bool collisionCallback ( void * data,

dGeomID o1,

dGeomID o2

) [virtual]

checks for internal collisions and treats them.
In case of a treatment return true (collision will be ignored by other objects and the default routine) else false (collision is passed to other objects and (if not treated) to the default routine).
Implements OdeRobot.

void create ( const osg::Matrix & pose ) [private, virtual]

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

Parameters:

pose 4x4 pose matrix

void destroy ( ) [private, virtual]

destroys robot

void doInternalStuff ( const 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

Implements OdeRobot.

HandConf getDefaultConf ( ) [inline, static]

virtual Primitive* getMainPrimitive ( ) const [inline, protected, virtual]

the main object of the robot, which is used for position and speed tracking

Implements OdeRobot.

int getMotorNumber ( ) [virtual]

returns number of motors

Implements AbstractRobot.

Configurable::paramval getParam ( const paramkey & key ) const [virtual]

returns the value of the requested parameter or 0 (+ error message to stderr) if unknown.

Reimplemented from Configurable.

Configurable::paramlist getParamList ( ) const [virtual]

The list of all parameters with there value as allocated lists.

Reimplemented from Configurable.

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 mycallback ( void * data,

dGeomID o1,

dGeomID o2

) [static, private]

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.

bool setParam ( const paramkey & key,

paramval val

) [virtual]

sets the value of the given parameter or does nothing if unknown.

Reimplemented from Configurable.