mc_rbdyn::GripperSurface Struct Reference

#include <mc_rbdyn/GripperSurface.h>

Inheritance diagram for mc_rbdyn::GripperSurface:

Collaboration diagram for mc_rbdyn::GripperSurface:

Public Member Functions
	GripperSurface (const std::string &name, const std::string &bodyName, const sva::PTransformd &X_b_s, const std::string &materialName, const std::vector< sva::PTransformd > &pointsFromOrigin, const sva::PTransformd &X_b_motor, const double &motorMaxTorque)
	~GripperSurface () override
void	computePoints () override
void	originTransform (const sva::PTransformd &X_s_sp)
std::shared_ptr< Surface >	copy () const override
std::string	type () const override
const std::vector< sva::PTransformd > &	pointsFromOrigin () const
const sva::PTransformd &	X_b_motor () const
const double &	motorMaxTorque () const
tinyxml2::XMLElement *	toXML (tinyxml2::XMLDocument &doc) const override
Public Member Functions inherited from mc_rbdyn::Surface
	Surface (const std::string &name, const std::string &bodyName, const sva::PTransformd &X_b_s, const std::string &materialName)
virtual	~Surface ()
const std::string &	name () const
void	name (const std::string &name)
const std::string &	bodyName () const
const std::string &	materialName () const
const std::vector< sva::PTransformd > &	points () const
unsigned int	bodyIndex (const mc_rbdyn::Robot &robot) const
sva::PTransformd	X_0_s (const mc_rbdyn::Robot &robot) const
sva::PTransformd	X_0_s (const mc_rbdyn::Robot &robot, const rbd::MultiBodyConfig &mbc) const
const sva::PTransformd &	X_b_s () const
void	X_b_s (const sva::PTransformd &X_b_s)
std::string	toStr ()
bool	operator== (const Surface &rhs)
bool	operator!= (const Surface &rhs)

Static Public Member Functions
static std::unique_ptr< GripperSurface >	fromXML (const tinyxml2::XMLElement &elem)
	Construct a GripperSurface from an XML element. More...
Static Public Member Functions inherited from mc_rbdyn::Surface
static std::unique_ptr< Surface >	fromXML (const tinyxml2::XMLElement &elem)
	Construct a Surface (of the appropriate derived type) from an XML element. More...

Additional Inherited Members
Protected Member Functions inherited from mc_rbdyn::Surface
std::vector< sva::PTransformd > &	points ()

Constructor & Destructor Documentation

GripperSurface()

mc_rbdyn::GripperSurface::GripperSurface	(	const std::string &	name,
		const std::string &	bodyName,
		const sva::PTransformd &	X_b_s,
		const std::string &	materialName,
		const std::vector< sva::PTransformd > &	pointsFromOrigin,
		const sva::PTransformd &	X_b_motor,
		const double &	motorMaxTorque
	)

~GripperSurface()

mc_rbdyn::GripperSurface::~GripperSurface ( )

override

Member Function Documentation

computePoints()

void mc_rbdyn::GripperSurface::computePoints ( )

overridevirtual

Implements mc_rbdyn::Surface.

copy()

std::shared_ptr<Surface> mc_rbdyn::GripperSurface::copy ( ) const

overridevirtual

Implements mc_rbdyn::Surface.

fromXML()

static std::unique_ptr<GripperSurface> mc_rbdyn::GripperSurface::fromXML ( const tinyxml2::XMLElement &  elem )

static

Construct a GripperSurface from an XML element.

Example XML:

<gripper_surface name="LeftGripper" link="l_wrist">
  <origin rpy="3.14 0.0 0.0" xyz="0.0 -0.0085 -0.095" />
  <motor rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" max_torque="1000" />
  <points>
    <origin rpy="-1.5707964897155762 -0.0 0.0" xyz="0.0 0.02 0.0" />
    <origin rpy="1.5707969665527344 -0.0 0.0" xyz="0.0 -0.02 0.0" />
    <origin rpy="0.0 -0.0 0.0" xyz="0.0 0.0 0.015" />
    <origin rpy="3.1415939331054688 -0.0 0.0" xyz="0.0 0.0 -0.005" />
  </points>
  <material name="plastic" />
</gripper_surface>

Parameters

elem	The XML element describing the gripper surface.

Returns

Unique pointer to the constructed GripperSurface.

motorMaxTorque()

const double& mc_rbdyn::GripperSurface::motorMaxTorque

(

)

const

originTransform()

void mc_rbdyn::GripperSurface::originTransform

(

const sva::PTransformd &

X_s_sp

)

pointsFromOrigin()

const std::vector<sva::PTransformd>& mc_rbdyn::GripperSurface::pointsFromOrigin

(

)

const

toXML()

tinyxml2::XMLElement* mc_rbdyn::GripperSurface::toXML ( tinyxml2::XMLDocument &  doc ) const

overridevirtual

Implements mc_rbdyn::Surface.

type()

std::string mc_rbdyn::GripperSurface::type ( ) const

overridevirtual

Implements mc_rbdyn::Surface.

X_b_motor()

const sva::PTransformd& mc_rbdyn::GripperSurface::X_b_motor

(

)

const

---

The documentation for this struct was generated from the following file:

• include/mc_rbdyn/GripperSurface.h