#include <hand.h>

Inheritance diagram for Hand:

Collaboration diagram for Hand:

Public Member Functions
	Hand (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const HandConf &conf, const std::string &name)
	constructor of hand More...

virtual void	update ()
	update the subcomponents More...

virtual void	placeIntern (const osg::Matrix &pose)
	sets the pose of the vehicle More...

virtual void	sense (GlobalData &globalData) override
	this function is called each controlstep before control. More...

virtual int	getSensorsIntern (sensor *sensors, int sensornumber)
	returns actual sensorvalues More...

virtual void	setMotorsIntern (const double *motors, int motornumber)
	sets actual motorcommands More...

virtual int	getSensorNumberIntern ()
	returns number of sensors More...

virtual int	getMotorNumberIntern ()
	returns number of motors More...

virtual void	notifyOnChange (const paramkey &key)
	returns a vector with the positions of all segments of the robot More...

Public Member Functions inherited from OdeRobot
	OdeRobot (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const std::string &name, const std::string &revision)
	Constructor. More...

virtual	~OdeRobot ()
	calls cleanup() More...

virtual int	getSensors (double *sensors, int sensornumber) final
	returns actual sensorvalues More...

virtual void	setMotors (const double *motors, int motornumber) final
	sets actual motorcommands More...

virtual int	getSensorNumber () final
	returns number of sensors More...

virtual int	getMotorNumber () final
	returns number of motors More...

virtual std::list < SensorMotorInfo >	getSensorInfos () override
	returns the information for the sensors. More...

virtual std::list < SensorMotorInfo >	getMotorInfos () override
	returns the information for the motors. More...

virtual void	addSensor (std::shared_ptr< Sensor > sensor, Attachment attachment=Attachment())
	adds a sensor to the robot. More...

virtual void	addMotor (std::shared_ptr< Motor > motor, Attachment attachment=Attachment())
	adds a motor to the robot. More...

virtual std::list < SensorAttachment >	getAttachedSensors ()
	returns all generic sensors with their attachment More...

virtual std::list < MotorAttachment >	getAttachedMotors ()
	returns all generic motors with their attachment More...

virtual void	addTorqueSensors (double maxtorque=1.0, int avg=1)
	adds a torque sensor to each joint. Call it after placement of robot. More...

virtual void	place (const Pos &pos) final
	sets the vehicle to position pos More...

virtual void	place (const osg::Matrix &pose) final
	sets the pose of the vehicle More...

virtual bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)

virtual void	doInternalStuff (GlobalData &globalData)
	this function is called in each simulation timestep (always after control). More...

virtual void	setColor (const Color &col)
	sets color of the robot More...

virtual Position	getPosition () const
	returns position of the object More...

virtual Position	getSpeed () const
	returns linear speed vector of the object More...

virtual Position	getAngularSpeed () const
	returns angular velocity vector of the object More...

virtual matrix::Matrix	getOrientation () const
	returns the orientation of the object More...

virtual Primitives	getAllPrimitives () const
	returns a list of all primitives of the robot (used to store and restore the robot) More...

virtual Primitives &	getAllPrimitives ()

virtual Joints	getAllJoints () const
	returns a list of all primitives of the robot (const version) (used to store and restore the robot) More...

virtual Joints &	getAllJoints ()

virtual bool	store (FILE *f) const
	returns a list of all joints of the robot (const version) More...

virtual bool	restore (FILE *f)
	loads the object from the given file stream (ASCII preferred). More...

virtual void	moveToPosition (Pos pos=Pos(0, 0, 0.5), int primitiveID=-1)
	relocates robot such its primitive with the given ID is at the new postion (keep current pose). More...

virtual void	moveToPose (Pose pose, int primitiveID=-1)
	relocates robot such its primitive with the given ID is at the new pose (keep relative pose of all primitives). More...

virtual Pose	getInitialPose ()
	returns the initial pose of the main primitive (use it e.g. with moveToPose) More...

virtual Pose	getRelativeInitialPose ()
	returns the initial relative pose of the main primitive (use it with moveToPose to further translate or rotate). More...

virtual void	fixate (GlobalData &global, int primitiveID=-1, double duration=0)
	fixates the given primitive of the robot at its current position to the world for a certain time. More...

virtual bool	unFixate (GlobalData &global)
	release the robot in case it is fixated and return true in this case More...

Public Member Functions inherited from AbstractRobot
	AbstractRobot (const std::string &name="abstractRobot", const std::string &revision="$ID$")
	Constructor. More...

virtual	~AbstractRobot ()

virtual std::string	getTrackableName () const
	returns name of trackable More...

Public Member Functions inherited from Trackable
	Trackable ()
	Constructor. More...

virtual	~Trackable ()

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	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...

Public Member Functions inherited from Storeable
virtual	~Storeable ()

bool	storeToFile (const char *filename) const
	Provided for convenience. More...

bool	restoreFromFile (const char *filename)
	Provided for convenience. More...

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. More...

Protected Member Functions inherited from OdeRobot
void	attachSensor (SensorAttachment &sa)

void	attachMotor (MotorAttachment &ma)

virtual void	cleanup ()
	deletes all objects (primitives) and joints (is called automatically in destructor) 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

Protected Attributes
HandConf	conf
	configuration of hand More...

std::vector< OSGPrimitive * >	osg_objects
	vector containing OSGPrimitives More...

std::vector< IRSensor * >	ir_sensors
	vector containing Primitivesinfrared sensors More...

bool	contact_joint_created
	true if contact joint is created More...

std::vector< AngularMotor * >	frictionmotors
	vector of the joints used in hand More...

std::vector< HingeServo * >	servos
	vector of the used hinge servos More...

RaySensorBank	irSensorBank
	a collection of ir sensors More...

dSpaceID	hand_space
	space containing the hand More...

AngularMotor *	palm_motor_joint
	motorjoint for actuating the forearm_palm joint (ball joint) More...

AngularMotor *	thumb_motor_joint
	motorjoint for actuating the palm_thumb joint (ball joint) More...

HingeJoint *	thumb_bt
	Hinge Joint between thumb_buttom and thumb_top. More...

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

Joint *	index_bc

Joint *	index_ct

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

Joint *	middle_bc

Joint *	middle_ct

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

Joint *	ring_bc

Joint *	ring_ct

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

Joint *	little_bc

Joint *	little_ct

GripMode	gripmode
	for handling lateral and precision grip modes More...

Position	initial_pos
	initial position of robot More...

Pos	oldp

int	sensorno

int	motorno

int	sensor_number

paramval	factorForce

paramval	frictionGround

double	velocity

Protected Attributes inherited from OdeRobot
Primitives	objects
	list of objects (should be populated by subclasses) More...

Joints	joints
	list of joints (should be populated by subclasses) More...

std::list< SensorAttachment >	sensors

std::list< MotorAttachment >	motors

TmpJoint *	fixationTmpJoint

Pose	initialPose

Pose	initialRelativePose

OdeHandle	odeHandle

OsgHandle	osgHandle

dSpaceID	parentspace

bool	initialized

bool	askedfornumber

Additional Inherited Members
Public Types inherited from AbstractRobot
typedef double	sensor

typedef double	motor

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...

Static Protected Member Functions inherited from OdeRobot
static bool	isGeomInPrimitiveList (Primitive **ps, int len, dGeomID geom)

static bool	isGeomInPrimitiveList (std::list< Primitive * > ps, dGeomID geom)

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

Member Function Documentation

static HandConf getDefaultConf ( )

inlinestatic

virtual Primitive* getMainPrimitive ( ) const

inlineprotectedvirtual

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

Reimplemented from OdeRobot.

int getMotorNumberIntern ( )

virtual

returns number of motors

Reimplemented from OdeRobot.

int getSensorNumberIntern ( )

virtual

returns number of sensors

Reimplemented from OdeRobot.

int getSensorsIntern	(	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

Reimplemented from OdeRobot.

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 placeIntern ( const osg::Matrix & pose )

virtual

sets the pose of the vehicle

Parameters

pose	desired 4x4 pose matrix

Implements OdeRobot.

void sense ( GlobalData & globalData )

overridevirtual

this function is called each controlstep before control.

This is the place the perform active sensing (e.g. Image processing). If you overload this function, call the OdeRobot::sense() function.

Parameters

globalData structure that contains global data from the simulation environment

Reimplemented from OdeRobot.

void setMotorsIntern	(	const double *	motors,
		int	motornumber
	)

virtual

sets actual motorcommands

Parameters

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

Reimplemented from OdeRobot.

void update ( )

virtual

update the subcomponents

Reimplemented from OdeRobot.

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

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation