dynamicgraph::sot::GripperControl Class Reference

#include <sot/core/gripper-control.hh>

Inheritance diagram for dynamicgraph::sot::GripperControl:
dynamicgraph::sot::GripperControlPlugin

List of all members.

Public Member Functions

 GripperControl (void)
void computeIncrement (const ml::Vector &torques, const ml::Vector &torqueLimits, const ml::Vector &currentNormPos)
ml::VectorcomputeDesiredPosition (const ml::Vector &currentPos, const ml::Vector &torques, const ml::Vector &upperLim, const ml::Vector &lowerLim, const ml::Vector &torqueLimits, ml::Vector &desPos)

Static Public Member Functions

static void computeNormalizedPosition (const ml::Vector &currentPos, const ml::Vector &upperLim, const ml::Vector &lowerLim, ml::Vector &currentNormPos)
static void computeDenormalizedPosition (const ml::Vector &currentNormPos, const ml::Vector &upperLim, const ml::Vector &lowerLim, ml::Vector &currentPos)
static ml::Vectorselector (const ml::Vector &fullsize, const Flags &selec, ml::Vector &desPos)

Protected Attributes

double offset
ml::Vector factor

Static Protected Attributes

static const double OFFSET_DEFAULT

Constructor & Destructor Documentation


Member Function Documentation

static void dynamicgraph::sot::GripperControl::computeDenormalizedPosition ( const ml::Vector currentNormPos,
const ml::Vector upperLim,
const ml::Vector lowerLim,
ml::Vector currentPos 
) [static]
ml::Vector& dynamicgraph::sot::GripperControl::computeDesiredPosition ( const ml::Vector currentPos,
const ml::Vector torques,
const ml::Vector upperLim,
const ml::Vector lowerLim,
const ml::Vector torqueLimits,
ml::Vector desPos 
)
void dynamicgraph::sot::GripperControl::computeIncrement ( const ml::Vector torques,
const ml::Vector torqueLimits,
const ml::Vector currentNormPos 
)
static void dynamicgraph::sot::GripperControl::computeNormalizedPosition ( const ml::Vector currentPos,
const ml::Vector upperLim,
const ml::Vector lowerLim,
ml::Vector currentNormPos 
) [static]
static ml::Vector& dynamicgraph::sot::GripperControl::selector ( const ml::Vector fullsize,
const Flags selec,
ml::Vector desPos 
) [static]

Member Data Documentation

const double dynamicgraph::sot::GripperControl::OFFSET_DEFAULT [static, protected]
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