dynamicgraph::sot::GripperControl Class Reference

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

Inheritance diagram for dynamicgraph::sot::GripperControl:

List of all members.

Public Member Functions
	GripperControl (void)
void	computeIncrement (const ml::Vector &torques, const ml::Vector &torqueLimits, const ml::Vector &currentNormPos)
ml::Vector &	computeDesiredPosition (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::Vector &	selector (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

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Constructor & Destructor Documentation

dynamicgraph::sot::GripperControl::GripperControl

(

void

)

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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]

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Member Data Documentation

ml::Vector dynamicgraph::sot::GripperControl::factor [protected]

double dynamicgraph::sot::GripperControl::offset [protected]

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