dynamicsJRLJapan::Hand Class Reference
[User Classes]
This class represents a hand. More...
#include <jrl/dynamics/hand.hh>
Public Member Functions | |
| Hand () | |
| Constructor. | |
| virtual | ~Hand () |
| Destructor. | |
| virtual const CjrlJoint * | associatedWrist () const |
| Get the wrist joint to which the hand is attached. | |
| virtual void | setAssociatedWrist (const CjrlJoint *inWrist) |
| Get the wrist joint to which the hand is attached. | |
| void | getCenter (vector3d &outCenter) const |
| Get the center of the hand. | |
| void | setCenter (const vector3d &inCenter) |
| Set the center of the hand. | |
| void | getThumbAxis (vector3d &outThumbAxis) const |
| Get thumb axis when had is in open position. | |
| void | setThumbAxis (const vector3d &inThumbAxis) |
| Set thumb axis in wrist frame when had is in open position. | |
| void | getForeFingerAxis (vector3d &outForeFingerAxis) const |
| Get forefinger axis. | |
| void | setForeFingerAxis (const vector3d &inForeFingerAxis) |
| Set forefinger axis. | |
| void | getPalmNormal (vector3d &outPalmNormal) const |
| Get palm normal. | |
| void | setPalmNormal (const vector3d &inPalmNormal) |
| Set palm normal. | |
Detailed Description
This class represents a hand.
A hand has a central point referenced in the wrist joint frame, three axis and a scalar value ranging between 0 and 1 to describe the grasping degree (0 for open and 1 for closed hand)
Constructor & Destructor Documentation
| dynamicsJRLJapan::Hand::Hand | ( | ) |
Constructor.
| virtual dynamicsJRLJapan::Hand::~Hand | ( | ) | [virtual] |
Destructor.
Member Function Documentation
| virtual const CjrlJoint* dynamicsJRLJapan::Hand::associatedWrist | ( | ) | const [virtual] |
Get the wrist joint to which the hand is attached.
Implements CjrlHand.
| void dynamicsJRLJapan::Hand::getCenter | ( | vector3d & | outCenter | ) | const [virtual] |
Get the center of the hand.
- Return values:
-
outCenter Center of the hand in the frame of the wrist.
Implements CjrlHand.
| void dynamicsJRLJapan::Hand::getForeFingerAxis | ( | vector3d & | outForeFingerAxis | ) | const [virtual] |
Get forefinger axis.
- Return values:
-
outForeFingerAxis axis of the forefinger in wrist frame in open position
Implements CjrlHand.
| void dynamicsJRLJapan::Hand::getPalmNormal | ( | vector3d & | outPalmNormal | ) | const [virtual] |
Get palm normal.
- Return values:
-
outPalmNormal normal to the palm in the frame of the wrist.
Implements CjrlHand.
| void dynamicsJRLJapan::Hand::getThumbAxis | ( | vector3d & | outThumbAxis | ) | const [virtual] |
Get thumb axis when had is in open position.
- Return values:
-
outThumbAxis Axis of the thumb in wrist frame in open position
Implements CjrlHand.
| virtual void dynamicsJRLJapan::Hand::setAssociatedWrist | ( | const CjrlJoint * | inWrist | ) | [virtual] |
Get the wrist joint to which the hand is attached.
Implements CjrlHand.
| void dynamicsJRLJapan::Hand::setCenter | ( | const vector3d & | inCenter | ) | [virtual] |
Set the center of the hand.
- Parameters:
-
inCenter Center of the hand in the frame of the wrist.
Implements CjrlHand.
| void dynamicsJRLJapan::Hand::setForeFingerAxis | ( | const vector3d & | inForeFingerAxis | ) | [virtual] |
Set forefinger axis.
- Parameters:
-
inForeFingerAxis axis of the forefinger in wrist frame in open position
Implements CjrlHand.
| void dynamicsJRLJapan::Hand::setPalmNormal | ( | const vector3d & | inPalmNormal | ) | [virtual] |
Set palm normal.
- Parameters:
-
inPalmNormal normal to the palm in the frame of the wrist.
Implements CjrlHand.
| void dynamicsJRLJapan::Hand::setThumbAxis | ( | const vector3d & | inThumbAxis | ) | [virtual] |
Set thumb axis in wrist frame when had is in open position.
- Parameters:
-
inThumbAxis Axis of the thumb in wrist frame in open position
Implements CjrlHand.