aikido::robot::Hand Class Reference

Abstract class for Hand interface. More...

#include <aikido/robot/Hand.hpp>

Public Member Functions
virtual	~Hand ()=default
virtual void	grab (const dart::dynamics::SkeletonPtr &bodyToGrab)=0
	Grabs an object. More...
virtual void	ungrab ()=0
	Ungrabs an object. More...
virtual std::future< void >	executePreshape (const std::string &preshapeName)=0
	Sets the hand to the corresponding preshape (from preshapesUri). More...
virtual void	step (const std::chrono::system_clock::time_point &timepoint)=0
	Simulates up to the provided timepoint. More...
virtual dart::dynamics::ConstMetaSkeletonPtr	getMetaSkeleton () const =0
	Returns the metaskeleton corresponding to this hand. More...
virtual dart::dynamics::MetaSkeletonPtr	getMetaSkeleton ()=0
	Returns the metaskeleton corresponding to this hand. More...
virtual dart::dynamics::BodyNode *	getEndEffectorBodyNode () const =0
	Get the end-effector body node for which IK can be created. More...
virtual dart::dynamics::BodyNode *	getHandBaseBodyNode () const =0
	Get the body node which is the root of the hand, containing all fingers. More...

Detailed Description

Abstract class for Hand interface.

Constructor & Destructor Documentation

~Hand()

virtual aikido::robot::Hand::~Hand ( )

virtualdefault

Member Function Documentation

executePreshape()

virtual std::future<void> aikido::robot::Hand::executePreshape ( const std::string &  preshapeName )

pure virtual

Sets the hand to the corresponding preshape (from preshapesUri).

Parameters

[in]

preshapeName

Name of preshape (e.g. "open")

getEndEffectorBodyNode()

virtual dart::dynamics::BodyNode* aikido::robot::Hand::getEndEffectorBodyNode ( ) const

pure virtual

Get the end-effector body node for which IK can be created.

Returns

DART body node of end-effector

getHandBaseBodyNode()

virtual dart::dynamics::BodyNode* aikido::robot::Hand::getHandBaseBodyNode ( ) const

pure virtual

Get the body node which is the root of the hand, containing all fingers.

Returns

DART body node at the root of the hand

getMetaSkeleton() [1/2]

virtual dart::dynamics::ConstMetaSkeletonPtr aikido::robot::Hand::getMetaSkeleton ( ) const

pure virtual

Returns the metaskeleton corresponding to this hand.

getMetaSkeleton() [2/2]

virtual dart::dynamics::MetaSkeletonPtr aikido::robot::Hand::getMetaSkeleton ( )

pure virtual

Returns the metaskeleton corresponding to this hand.

grab()

virtual void aikido::robot::Hand::grab ( const dart::dynamics::SkeletonPtr &  bodyToGrab )

pure virtual

Grabs an object.

Immediately executes.

Parameters

[in]

bodyToGrab

The object to grab

step()

virtual void aikido::robot::Hand::step ( const std::chrono::system_clock::time_point &  timepoint )

pure virtual

Simulates up to the provided timepoint.

Note

Assumes that the robot's skeleton is locked.

Parameters

[in]

timepoint

Time to simulate to.

ungrab()

virtual void aikido::robot::Hand::ungrab ( )

pure virtual

Ungrabs an object.

Immediately ungrabs.

Exceptions

a	runtime_error if fails.