#include <sot/core/gripper-control.hh>
Public Member Functions | |
GripperControl (void) | |
void | computeIncrement (const ml::Vector &torques, const ml::Vector &torqueLimits, const ml::Vector ¤tNormPos) |
ml::Vector & | computeDesiredPosition (const ml::Vector ¤tPos, 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 ¤tPos, const ml::Vector &upperLim, const ml::Vector &lowerLim, ml::Vector ¤tNormPos) |
static void | computeDenormalizedPosition (const ml::Vector ¤tNormPos, const ml::Vector &upperLim, const ml::Vector &lowerLim, ml::Vector ¤tPos) |
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 |
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] |
ml::Vector dynamicgraph::sot::GripperControl::factor [protected] |
double dynamicgraph::sot::GripperControl::offset [protected] |
const double dynamicgraph::sot::GripperControl::OFFSET_DEFAULT [static, protected] |