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cisst-saw
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#include <osaODEBarrettHand.h>
Public Member Functions | |
| osaODEBarrettHand (const std::string &palmmodel, const std::string &metacarpalmodel, const std::string &proximalmodel, const std::string &intermediatemodel, osaODEWorld *world, const vctFrame4x4< double > &Rtw0, const std::string &f1f2filename, const std::string &f3filename) | |
| Barrett Hand constructor. More... | |
| osaODEBarrettHand (const std::string &palmmodel, const std::string &metacarpalmodel, const std::string &proximalmodel, const std::string &intermediatemodel, osaODEWorld *world, const vctFrm3 &Rtw0, const std::string &f1f2filename, const std::string &f3filename) | |
| Barrett Hand constructor. More... | |
| ~osaODEBarrettHand () | |
 Public Member Functions inherited from osaOSGBH | |
| osaOSGBH (const std::string &palmmodel, const std::string &metacarpalmodel, const std::string &proximalmodel, const std::string &intermediatemodel, osaOSGWorld *world, const vctFrame4x4< double > &Rtw0, const std::string &f1f2filename, const std::string &f3filename) | |
| Barrett Hand constructor. More... | |
| osaOSGBH (const std::string &palmmodel, const std::string &metacarpalmodel, const std::string &proximalmodel, const std::string &intermediatemodel, osaOSGWorld *world, const vctFrm3 &Rtw0, const std::string &f1f2filename, const std::string &f3filename) | |
| Barrett Hand constructor. More... | |
| ~osaOSGBH () | |
| void | Initialize () |
| Initialize the hand. More... | |
| virtual osaOSGBH::Errno | GetPositions (vctDynamicVector< double > &q) const |
| Return the joints positions. More... | |
| virtual osaOSGBH::Errno | SetPositions (const vctDynamicVector< double > &qs) |
| Set the joint position. More... | |
| Public Member Functions inherited from osaOSGManipulator | |
| osaOSGManipulator (const std::vector< std::string > &models, osaOSGWorld *world, const vctFrame4x4< double > &Rtw0, const std::string &robfilename, const std::string &basemodel="") | |
| OSG Manipulator generic constructor. More... | |
| osaOSGManipulator (const std::vector< std::string > &models, osaOSGWorld *world, const vctFrm3 &Rtw0, const std::string &robfilename, const std::string &basemodel="") | |
| OSG Manipulator generic constructor. More... | |
| ~osaOSGManipulator () | |
| void | Initialize () |
| unsigned int | GetNumLinks () |
| osaOSGBody * | GetLink (size_t i) |
| osaOSGBody * | GetBase () |
| virtual void | Attach (osaOSGManipulator *CMN_UNUSED(tool)) |
| Public Member Functions inherited from robManipulator | |
| robManipulator::Errno | LoadRobot (const std::string &linkfile) |
| Load the kinematics and the dynamics of the robot. More... | |
| robManipulator::Errno | LoadRobot (std::vector< robKinematics * > KinParms) |
| void | JacobianBody (const vctDynamicVector< double > &q) const |
| Evaluate the body Jacobian. More... | |
| bool | JacobianBody (const vctDynamicVector< double > &q, vctDynamicMatrix< double > &J) const |
| Evaluate the body Jacobian and return it in the dynamic matrix J. More... | |
| void | JacobianSpatial (const vctDynamicVector< double > &q) const |
| Evaluate the spatial Jacobian. More... | |
| bool | JacobianSpatial (const vctDynamicVector< double > &q, vctDynamicMatrix< double > &J) const |
| Evaluate the spatial Jacobian and return it in the dynamic matrix J. More... | |
| vctDynamicVector< double > | RNE (const vctDynamicVector< double > &q, const vctDynamicVector< double > &qd, const vctDynamicVector< double > &qdd, const vctFixedSizeVector< double, 6 > &f, double g=9.81) const |
| Recursive Newton-Euler altorithm. More... | |
| vctDynamicVector< double > | CCG (const vctDynamicVector< double > &q, const vctDynamicVector< double > &qd) const |
| Coriolis/centrifugal and gravity. More... | |
| vctFixedSizeVector< double, 6 > | BiasAcceleration (const vctDynamicVector< double > &q, const vctDynamicVector< double > &qd) const |
| End-effector accelerations. More... | |
| void | JSinertia (double **A, const vctDynamicVector< double > &q) const |
| Compute the NxN manipulator inertia matrix. More... | |
| vctDynamicMatrix< double > | JSinertia (const vctDynamicVector< double > &q) const |
| void | OSinertia (double Ac[6][6], const vctDynamicVector< double > &q) const |
| Compute the 6x6 manipulator inertia matrix in operation space. More... | |
| vctFixedSizeMatrix< double, 4, 4 > | SE3Difference (const vctFrame4x4< double > &Rt1, const vctFrame4x4< double > &Rt2) const |
| void | AddIdentificationColumn (vctDynamicMatrix< double > &J, vctFixedSizeMatrix< double, 4, 4 > &delRt) const |
| robManipulator (const vctFrame4x4< double > &Rtw0=vctFrame4x4< double >()) | |
| robManipulator (const std::string &robotfilename, const vctFrame4x4< double > &Rtw0=vctFrame4x4< double >()) | |
| Manipulator generic constructor. More... | |
| robManipulator (const std::vector< robKinematics * > linkParms, const vctFrame4x4< double > &Rtw0=vctFrame4x4< double >()) | |
| virtual | ~robManipulator () |
| Manipulator destructor. More... | |
| virtual vctFrame4x4< double > | ForwardKinematics (const vctDynamicVector< double > &q, int N=-1) const |
| Evaluate the forward kinematics. More... | |
| virtual robManipulator::Errno | InverseKinematics (vctDynamicVector< double > &q, const vctFrame4x4< double > &Rts, double tolerance=1e-12, size_t Niteration=1000, double LAMBDA=0.001) |
| Evaluate the inverse kinematics. More... | |
| virtual robManipulator::Errno | InverseKinematics (vctDynamicVector< double > &q, const vctFrm3 &Rts, double tolerance=1e-12, size_t Niteration=1000) |
| virtual void | NormalizeAngles (vctDynamicVector< double > &q) |
| Normalize angles to -pi to pi. More... | |
| virtual vctDynamicVector< double > | InverseDynamics (const vctDynamicVector< double > &q, const vctDynamicVector< double > &qd, const vctDynamicVector< double > &qdd) const |
| Inverse dynamics in joint space. More... | |
| virtual vctDynamicVector< double > | InverseDynamics (const vctDynamicVector< double > &q, const vctDynamicVector< double > &qd, const vctFixedSizeVector< double, 6 > &vdwd) const |
| Inverse dynamics in operation space. More... | |
| virtual vctDynamicMatrix< double > | JacobianKinematicsIdentification (const vctDynamicVector< double > &q, double epsilon=1e-6) const |
| Compute Jacobian for kinematics identification. More... | |
| void | PrintKinematics (std::ostream &os) const |
| Print the kinematics parameters to the specified output stream. More... | |
| virtual void | Attach (robManipulator *tool) |
| Attach a tool. More... | |
Additional Inherited Members | |
| Public Types inherited from robManipulator | |
| enum | Errno { ESUCCESS, EFAILURE } |
| enum | LinkID { L0, L1, L2, L3, L4, L5, L6, L7, L8, L9, LN } |
| Public Attributes inherited from robManipulator | |
| vctFrame4x4< double > | Rtw0 |
| Position and orientation of the first link. More... | |
| double ** | Jn |
| Body Jacobian. More... | |
| double ** | Js |
| Spatial Jacobian. More... | |
| std::vector< robLink > | links |
| A vector of links. More... | |
| Protected Member Functions inherited from osaOSGBH | |
| osaOSGBH (const vctFrame4x4< double > &Rtw0, const std::string &robotfile) | |
| osaOSGBH (const vctFrm3 &Rtw0, const std::string &robotfile) | |
| Protected Member Functions inherited from osaOSGManipulator | |
| osaOSGManipulator (const vctFrame4x4< double > &Rtw0, const std::string &robotfile) | |
| osaOSGManipulator (const vctFrm3 &Rtw0, const std::string &robotfile) | |
| Protected Attributes inherited from osaOSGBH | |
| osg::ref_ptr< osaOSGManipulator > | f1 |
| osg::ref_ptr< osaOSGManipulator > | f2 |
| osg::ref_ptr< osaOSGManipulator > | f3 |
| Protected Attributes inherited from osaOSGManipulator | |
| vctDynamicVector< double > | q |
| Store the current joints values. More... | |
| osg::ref_ptr< osaOSGBody > | base |
| osg::ref_ptr< osg::Group > | osglinks |
| Protected Attributes inherited from robManipulator | |
| std::vector< robManipulator * > | tools |
| A vector of tools. More... | |
ODE Barrett Hand.
This class implements a Barrett hand device for ODE simulation. The class is derived from osaODEManipulator yet it reimplements most of the virtual methods due to the parallel and underactuated architecture. The hand creates 3 fingers, themselves ODE manipulators devices and dispatches the I/O to each finger.
| osaODEBarrettHand::osaODEBarrettHand | ( | const std::string & | palmmodel, |
| const std::string & | metacarpalmodel, | ||
| const std::string & | proximalmodel, | ||
| const std::string & | intermediatemodel, | ||
| osaODEWorld * | world, | ||
| const vctFrame4x4< double > & | Rtw0, | ||
| const std::string & | f1f2filename, | ||
| const std::string & | f3filename | ||
| ) |
Barrett Hand constructor.
| osaODEBarrettHand::osaODEBarrettHand | ( | const std::string & | palmmodel, |
| const std::string & | metacarpalmodel, | ||
| const std::string & | proximalmodel, | ||
| const std::string & | intermediatemodel, | ||
| osaODEWorld * | world, | ||
| const vctFrm3 & | Rtw0, | ||
| const std::string & | f1f2filename, | ||
| const std::string & | f3filename | ||
| ) |
Barrett Hand constructor.
| osaODEBarrettHand::~osaODEBarrettHand | ( | ) |
1.8.6