barrett::Hand Class Reference

Inheritance diagram for barrett::Hand:

List of all members.

Public Member Functions
	BARRETT_UNITS_TYPEDEFS (DOF)
	Hand (const std::vector< Puck * > &pucks)
	~Hand ()
void	initialize () const
void	idle () const
bool	doneMoving (unsigned int whichDigits=WHOLE_HAND, bool realtime=false) const
void	waitUntilDoneMoving (unsigned int whichDigits=WHOLE_HAND, double period_s=0.1) const
void	open (unsigned int whichDigits=WHOLE_HAND, bool blocking=true) const
void	open (bool blocking) const
void	close (unsigned int whichDigits=WHOLE_HAND, bool blocking=true) const
void	close (bool blocking) const
void	trapezoidalMove (const jp_type &jp, unsigned int whichDigits=WHOLE_HAND, bool blocking=true) const
void	trapezoidalMove (const jp_type &jp, bool blocking) const
void	velocityMove (const jv_type &jv, unsigned int whichDigits=WHOLE_HAND) const
void	setPositionMode (unsigned int whichDigits=WHOLE_HAND) const
void	setPositionCommand (const jp_type &jp, unsigned int whichDigits=WHOLE_HAND) const
void	setTorqueMode (unsigned int whichDigits=WHOLE_HAND) const
void	setTorqueCommand (const jt_type &jt, unsigned int whichDigits=WHOLE_HAND) const
void	update (unsigned int sensors=S_ALL, bool realtime=false)
const jp_type &	getInnerLinkPosition () const
const jp_type &	getOuterLinkPosition () const
const std::vector< int > &	getPrimaryEncoderPosition () const
const std::vector< int > &	getSecondaryEncoderPosition () const
void	enableBreakawayEncoders (bool enable)
bool	hasFingertipTorqueSensors () const
const std::vector< int > &	getFingertipTorque () const
bool	hasTactSensors () const
const std::vector< TactilePuck * > &	getTactilePucks () const
Static Public Attributes
static const size_t	DOF = 4
static const unsigned int	F1 = 1 << 0
static const unsigned int	F2 = 1 << 1
static const unsigned int	F3 = 1 << 2
static const unsigned int	SPREAD = 1 << 3
static const unsigned int	GRASP = F1 | F2 | F3
static const unsigned int	WHOLE_HAND = GRASP | SPREAD
static const unsigned int	S_POSITION = 1 << 0
static const unsigned int	S_FINGERTIP_TORQUE = 1 << 1
static const unsigned int	S_TACT_FULL = 1 << 2
static const unsigned int	S_ALL = S_POSITION | S_FINGERTIP_TORQUE | S_TACT_FULL
static const size_t	SPREAD_INDEX = 3
Protected Member Functions
bool	digitsInclude (unsigned int whichDigits, size_t index) const
void	setProperty (unsigned int whichDigits, enum Puck::Property prop, int value) const
void	setProperty (unsigned int whichDigits, enum Puck::Property prop, const v_type &values) const
void	blockIf (bool blocking, unsigned int whichDigits) const
Protected Attributes
bool	hasFtt
bool	hasTact
bool	useSecondaryEncoders
int	holds [DOF]
v_type	j2pp
v_type	j2pt
v_type	pt
std::vector < MotorPuck::CombinedPositionParser < int >::result_type >	encoderTmp
std::vector< int >	primaryEncoder
std::vector< int >	secondaryEncoder
jp_type	innerJp
jp_type	outerJp
std::vector< int >	ftt
std::vector< TactilePuck * >	tactilePucks
Static Protected Attributes
static const double	J2_RATIO = 125.0
static const double	J2_ENCODER_RATIO = 50.0
static const double	J3_RATIO = 375.0
static const double	SPREAD_RATIO = 17.5

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Constructor & Destructor Documentation

barrett::Hand::Hand

(

const std::vector< Puck * > &

_pucks

)

Hand Constructor

barrett::Hand::~Hand

(

)

Hand Destructor

---

Member Function Documentation

void barrett::Hand::blockIf	(	bool	blocking,
		unsigned int	whichDigits
	)		const [protected]

blockIf Method

void barrett::Hand::close	(	unsigned int	whichDigits = WHOLE_HAND,
		bool	blocking = true
	)		const

close Method

void barrett::Hand::close

(

bool

blocking

)

const [inline]

close Method

bool barrett::Hand::digitsInclude	(	unsigned int	whichDigits,
		size_t	index
	)		const [inline, protected]

bool barrett::Hand::doneMoving	(	unsigned int	whichDigits = WHOLE_HAND,
		bool	realtime = false
	)		const

doneMoving Method

void barrett::Hand::enableBreakawayEncoders

(

bool

enable

)

[inline]

enableBreakawayEncoders Method actives or deactivates the Secondary Encoders

const std::vector<int>& barrett::Hand::getFingertipTorque

(

)

const [inline]

getFingertipTorque Method gets the fingertip torques in torque units

const jp_type& barrett::Hand::getInnerLinkPosition

(

)

const [inline]

getInnerLinkPosition Method

const jp_type& barrett::Hand::getOuterLinkPosition

(

)

const [inline]

getOuterLinkPosition Method

const std::vector<int>& barrett::Hand::getPrimaryEncoderPosition

(

)

const [inline]

getPrimaryEncoderPosition Method

const std::vector<int>& barrett::Hand::getSecondaryEncoderPosition

(

)

const [inline]

getSecondaryEncoderPosition Method

const std::vector<TactilePuck*>& barrett::Hand::getTactilePucks

(

)

const [inline]

getTactilePucks Method creates container of pucks to get tactile sensor data from possible locations

bool barrett::Hand::hasFingertipTorqueSensors

(

)

const [inline]

hasFingertipTorqueSensors Method returns status of installed fingertip torque sensors

bool barrett::Hand::hasTactSensors

(

)

const [inline]

hasTactSensors Method returns whether or not Tactile Sensors are present on hand.

void barrett::Hand::idle

(

)

const [inline]

idle Method

void barrett::Hand::initialize

(

)

const

initialize Method

void barrett::Hand::open	(	unsigned int	whichDigits = WHOLE_HAND,
		bool	blocking = true
	)		const

open Method

void barrett::Hand::open

(

bool

blocking

)

const [inline]

open Method

void barrett::Hand::setPositionCommand	(	const jp_type &	jp,
		unsigned int	whichDigits = WHOLE_HAND
	)		const

setPositionCommand Method

void barrett::Hand::setPositionMode

(

unsigned int

whichDigits = WHOLE_HAND

)

const

setPositionMode Method

void barrett::Hand::setProperty	(	unsigned int	whichDigits,
		enum Puck::Property	prop,
		int	value
	)		const [protected]

void barrett::Hand::setProperty	(	unsigned int	whichDigits,
		enum Puck::Property	prop,
		const v_type &	values
	)		const [protected]

setProperty Method

void barrett::Hand::setTorqueCommand	(	const jt_type &	jt,
		unsigned int	whichDigits = WHOLE_HAND
	)		const

setTorqueCommand Method

void barrett::Hand::setTorqueMode

(

unsigned int

whichDigits = WHOLE_HAND

)

const

setTorqueMode Method

void barrett::Hand::trapezoidalMove	(	const jp_type &	jp,
		unsigned int	whichDigits = WHOLE_HAND,
		bool	blocking = true
	)		const

trapezoidalMove Method

void barrett::Hand::trapezoidalMove	(	const jp_type &	jp,
		bool	blocking
	)		const [inline]

trapezoidalMove Method

void barrett::Hand::update	(	unsigned int	sensors = S_ALL,
		bool	realtime = false
	)

update Method

void barrett::Hand::velocityMove	(	const jv_type &	jv,
		unsigned int	whichDigits = WHOLE_HAND
	)		const

velocityMove Method

void barrett::Hand::waitUntilDoneMoving	(	unsigned int	whichDigits = WHOLE_HAND,
		double	period_s = 0.1
	)		const

waitUntilDoneMoving Method

waitUntilDoneMoving Method prevents any subsequent actions until finger movement is completed.

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

• include/barrett/products/hand.h
• src/products/hand.cpp