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Robot Simulator of the Robotics Group for Self-Organization of Control
0.8.0
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Robot Simulator of the Robotics Group for Self-Organization of Control
0.8.0
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A gripper can be attached to a primitive via its substance and implements gripping (a fixed joint) on collision with specified objects. More...
#include <gripper.h>
Public Member Functions | |
| Gripper (const GripperConf &conf=getDefaultConf()) | |
| bool | attach (Primitive *p) |
| call this to attach the gripper to the given primitive More... | |
| virtual void | addGrippables (const std::vector< Primitive * > &ps) |
| virtual void | removeGrippables (const std::vector< Primitive * > &ps) |
| virtual void | removeAllGrippables () |
 Public Member Functions inherited from Configurable | |
| Configurable () | |
| Configurable (const std::string &name, const std::string &revision) | |
| intialise with name and revision (use "$ID$") More... | |
| virtual | ~Configurable () |
| virtual void | notifyOnChange (const paramkey &key) |
| Is called when a parameter was changes via setParam(). More... | |
| virtual void | addParameter (const paramkey &key, paramval *val, paramval minBound, paramval maxBound, const paramdescr &descr=paramdescr()) |
| This is the new style for adding configurable parameters. More... | |
| virtual void | addParameter (const paramkey &key, paramval *val, const paramdescr &descr=paramdescr()) |
| See addParameter(const paramkey& key, paramval* val, paramval minBound, paramval maxBound, const paramdescr& descr) More... | |
| virtual void | addParameter (const paramkey &key, parambool *val, const paramdescr &descr=paramdescr()) |
| See addParameter(const paramkey& key, paramval* val) but for bool values. More... | |
| virtual void | addParameter (const paramkey &key, paramint *val, paramint minBound, paramint maxBound, const paramdescr &descr=paramdescr()) |
| See addParameter(const paramkey& key, paramval* val) but for int values. More... | |
| virtual void | addParameter (const paramkey &key, paramint *val, const paramdescr &descr=paramdescr()) |
| virtual void | addParameterDef (const paramkey &key, paramval *val, paramval def, paramval minBound, paramval maxBound, const paramdescr &descr=paramdescr()) |
| This function is only provided for convenience. More... | |
| virtual void | addParameterDef (const paramkey &key, paramval *val, paramval def, const paramdescr &descr=paramdescr()) |
| virtual void | addParameterDef (const paramkey &key, parambool *val, parambool def, const paramdescr &descr=paramdescr()) |
| See addParameterDef(const paramkey&, paramval*, paramval) More... | |
| virtual void | addParameterDef (const paramkey &key, paramint *val, paramint def, paramint minBound, paramint maxBound, const paramdescr &descr=paramdescr()) |
| See addParameterDef(const paramkey&, paramval*, paramval) More... | |
| virtual void | addParameterDef (const paramkey &key, paramint *val, paramint def, const paramdescr &descr=paramdescr()) |
| virtual void | setParamDescr (const paramkey &key, const paramdescr &descr, bool traverseChildren=true) |
| sets a description for the given parameter More... | |
| int | getId () const |
| return the id of the configurable objects, which is created by random on initialisation More... | |
| virtual paramkey | getName () const |
| return the name of the object More... | |
| virtual paramkey | getRevision () const |
| returns the revision of the object More... | |
| virtual void | setName (const paramkey &name, bool callSetNameOfInspectable=true) |
| Sets the name of the configurable. More... | |
| virtual void | setRevision (const paramkey &revision) |
| sets the revision Hint: { return "$ID$"; } More... | |
| virtual paramval | getParam (const paramkey &key, bool traverseChildren=true) const |
| returns the value of the requested parameter or 0 (+ error message to stderr) if unknown. More... | |
| virtual bool | hasParam (const paramkey &key, bool traverseChildren=true) const |
| Returns if the requested parameter is part of the configurable or their children. More... | |
| virtual bool | setParam (const paramkey &key, paramval val, bool traverseChildren=true) |
| sets the value of the given parameter or does nothing if unknown. More... | |
| virtual void | setParamBounds (const paramkey &key, paramval minBound, paramval maxBound, bool traverseChildren=true) |
| Sets the bounds (minBound and maxBound) of the given parameter. More... | |
| virtual void | setParamBounds (const paramkey &key, paramint minBound, paramint maxBound, bool traverseChildren=true) |
| virtual void | setParamBounds (const paramkey &key, paramvalBounds bounds, bool traverseChildren=true) |
| virtual void | setParamBounds (const paramkey &key, paramintBounds bounds, bool traverseChildren=true) |
| virtual paramlist | getParamList () const |
| The list of all parameters with there value as allocated lists. More... | |
| virtual std::list< paramkey > | getAllParamNames (bool traverseChildren=true) |
| returns all names that are configureable More... | |
| virtual parammap | getParamValMap () const |
| virtual paramintmap | getParamIntMap () const |
| virtual paramboolmap | getParamBoolMap () const |
| virtual paramdescr | getParamDescr (const paramkey &key, bool traverseChildren=true) const |
| returns the description for the given parameter More... | |
| virtual paramvalBounds | getParamvalBounds (const paramkey &key, bool traverseChildren=true) const |
| virtual paramintBounds | getParamintBounds (const paramkey &key, bool traverseChildren=true) const |
| virtual bool | hasParamDescr (const paramkey &key, bool traverseChildren=true) const |
| virtual bool | hasParamvalBounds (const paramkey &key, bool traverseChildren=true) const |
| virtual bool | hasParamintBounds (const paramkey &key, bool traverseChildren=true) const |
| virtual bool | storeCfg (const char *filenamestem, const std::list< std::string > &comments=std::list< std::string >()) |
| stores the key values paires into the file : filenamestem.cfg including the comments given in the list More... | |
| virtual bool | restoreCfg (const char *filenamestem) |
| restores the key values paires from the file : filenamestem.cfg More... | |
| void | print (FILE *f, const char *prefix, int columns=90, bool traverseChildren=true) const |
| prints the keys, values and descriptions to the file. Each line is prefixed More... | |
| bool | parse (FILE *f, const char *prefix=0, bool traverseChildren=true) |
| parses the configuration from the given file More... | |
| virtual void | addConfigurable (Configurable *conf) |
| Adds a configurable as a child object. More... | |
| virtual void | removeConfigurable (Configurable *conf) |
| Removes a configurable as a child object. More... | |
| virtual const configurableList & | getConfigurables () const |
| Returns the list containing all configurable children. More... | |
| virtual void | configurableChanged () |
| Indicates that the configurable itself or the configurable children attached to this configurable have changed. More... | |
| Public Member Functions inherited from BackCaller | |
| BackCaller () | |
| virtual | ~BackCaller () |
| virtual void | addCallbackable (Callbackable *callbackableInstance, CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE) |
| Adds a Callbackable instance to this caller instance. More... | |
| virtual void | removeCallbackable (Callbackable *callbackableInstance, CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE) |
| Removes a Callbackable instance from this caller instance. More... | |
| virtual void | removeAllCallbackables (CallbackableType type) |
| Removes all Callbackable instances from this caller instance. More... | |
| virtual void | callBack (CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE) |
| Calls all registered callbackable classes of the determined type. More... | |
| virtual void | callBackQMP (CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE) |
| Calls all registered callbackable classes of the determined type. More... | |
Static Public Member Functions | |
| static GripperConf | getDefaultConf () |
| static int | onCollision (dSurfaceParameters ¶ms, GlobalData &globaldata, void *userdata, dContact *contacts, int numContacts, dGeomID o1, dGeomID o2, const Substance &s1, const Substance &s2) |
Additional Inherited Members | |
| Public Types inherited from Configurable | |
| typedef std::string | paramkey |
| typedef std::string | paramdescr |
| typedef double | paramval |
| typedef std::list< std::pair < paramkey, paramval > > | paramlist |
| typedef std::map< paramkey, paramval * > | parammap |
| typedef bool | parambool |
| typedef std::list< std::pair < paramkey, parambool > > | paramboollist |
| typedef std::map< paramkey, parambool * > | paramboolmap |
| typedef int | paramint |
| typedef std::list< std::pair < paramkey, paramint > > | paramintlist |
| typedef std::map< paramkey, paramint * > | paramintmap |
| typedef std::map< paramkey, paramdescr > | paramdescrmap |
| typedef std::pair< paramval, paramval > | paramvalBounds |
| typedef std::map< paramkey, paramvalBounds > | paramvalBoundsMap |
| typedef std::pair< paramint, paramint > | paramintBounds |
| typedef std::map< paramkey, paramintBounds > | paramintBoundsMap |
| typedef std::pair< paramkey, paramval * > | paramvalpair |
| typedef std::pair< paramkey, parambool * > | paramboolpair |
| typedef std::pair< paramkey, paramint * > | paramintpair |
| typedef std::vector < Configurable * > | configurableList |
| Public Types inherited from BackCaller | |
| typedef unsigned long | CallbackableType |
| Static Public Attributes inherited from Configurable | |
| static const CallbackableType | CALLBACK_CONFIGURABLE_CHANGED = 11 |
| Static Public Attributes inherited from BackCaller | |
| static const CallbackableType | DEFAULT_CALLBACKABLE_TYPE = 0 |
| This is the default Callbackable type. More... | |
| Protected Member Functions inherited from Configurable | |
| void | copyParameters (const Configurable &, bool traverseChildren=true) |
| copies the internal params of the given configurable More... | |
| void | printdescr (FILE *f, const char *prefix, const paramkey &key, int columns, int indent) const |
A gripper can be attached to a primitive via its substance and implements gripping (a fixed joint) on collision with specified objects.
Usage: in your robot, create a Gripper object and attach it to the primitive that grips (e.g. hand). Then you need make the gripper(s) available to you simulation in order to set call the addGrippables from there (e.g. with otherrobot->getAllPrimitives()), see Skeleton.
| Gripper | ( | const GripperConf & | conf = getDefaultConf() | ) |
| gripDuration | time in seconds for how long the gripper grasps |
| releaseDuration | time in seconds for how long the gripper cannot grasp after release |
| size | diameter of the drawn sphere (if 0 nothing is drawn) |
| drawAtContactPoint | sphere is drawn at contact point (true) or at center of attached primitive (false) |
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virtual |
| bool attach | ( | Primitive * | p | ) |
call this to attach the gripper to the given primitive
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1.8.6 
