mia_hand_description
rel 1.0.0
|
thumb_opp_passive_joints class. More...
#include <mia_thumb_opp_passivejoints.h>
Public Member Functions | |
thumb_opp_passive_joint () | |
Class constructor. More... | |
~thumb_opp_passive_joint () | |
Class destructor. More... | |
void | init (const bool LoadURDFInfo_=false) |
Initialize class. More... | |
double | GetThumbOppPosition (double j_index_flex_pos) |
Evaluate the position of the thumb opposition based on index flexion state. More... | |
bool | LoadURDFInfo () |
Load Info from loaded URDF. More... | |
Public Attributes | |
std::string | j_index_name |
Name of the index_fle joint specified in the URDF. More... | |
std::string | j_thumb_name |
Name of the thumb_opp joint specified in the URDF. More... | |
std::string | robot_description_ |
Name of parameter describing the robot description loaded in the ROS parameter server. More... | |
double | ThMinPos |
Lower Limit of the thumb_opp joint. More... | |
double | ThMaxPos |
Upper Limit of the thumb_opp joint. More... | |
Private Member Functions | |
std::string | getURDF (std::string param_name) const |
Get the name of the URDF. More... | |
Private Attributes | |
ros::NodeHandle | n |
A ROS node variable. More... | |
thumb_opp_passive_joints class.
This class can be used to evaluate the state of the thumb opposition (passive joint) of the Mia Hand. using the state of the index_flex joint.
Definition at line 36 of file mia_thumb_opp_passivejoints.h.
mia_hand::thumb_opp_passive_joint::thumb_opp_passive_joint | ( | ) |
mia_hand::thumb_opp_passive_joint::~thumb_opp_passive_joint | ( | ) |
Class destructor.
Definition at line 35 of file mia_thumb_opp_passivejoints.cpp.
double mia_hand::thumb_opp_passive_joint::GetThumbOppPosition | ( | double | j_index_flex_pos | ) |
Evaluate the position of the thumb opposition based on index flexion state.
Taking the position of the index_fle joint and returns the position of the thumb_opp joint.
A method taking the position of the index_fle joint and returning the position of the thumb_opp joint.
j_index_flex_pos | a double argument describing the position of the index_fle joint. @Ĺ—eturn double describing the position of the thumb_opp joint. |
Definition at line 38 of file mia_thumb_opp_passivejoints.cpp.
|
private |
Get the name of the URDF.
Find the URDF parameter name.
A method taking the ros parameter urdf generic name and return the specific of the loaded URDF.
param_name | generic name of the param to look for. |
Definition at line 98 of file mia_thumb_opp_passivejoints.cpp.
void mia_hand::thumb_opp_passive_joint::init | ( | const bool | LoadURDFInfo_ = false | ) |
Initialize class.
LoadURDFInfo | a bool argument. True if the class has to load joint limits info from the URDF. |
Definition at line 19 of file mia_thumb_opp_passivejoints.cpp.
bool mia_hand::thumb_opp_passive_joint::LoadURDFInfo | ( | ) |
Load Info from loaded URDF.
Load joint limits from URD.
A method that uses the class attributes to extract the upper and lower limit of the thumb joint from the URDF.
Definition at line 60 of file mia_thumb_opp_passivejoints.cpp.
std::string mia_hand::thumb_opp_passive_joint::j_index_name |
Name of the index_fle joint specified in the URDF.
Definition at line 86 of file mia_thumb_opp_passivejoints.h.
std::string mia_hand::thumb_opp_passive_joint::j_thumb_name |
Name of the thumb_opp joint specified in the URDF.
Definition at line 92 of file mia_thumb_opp_passivejoints.h.
|
private |
A ROS node variable.
Definition at line 117 of file mia_thumb_opp_passivejoints.h.
std::string mia_hand::thumb_opp_passive_joint::robot_description_ |
Name of parameter describing the robot description loaded in the ROS parameter server.
Definition at line 98 of file mia_thumb_opp_passivejoints.h.
double mia_hand::thumb_opp_passive_joint::ThMaxPos |
Upper Limit of the thumb_opp joint.
Definition at line 110 of file mia_thumb_opp_passivejoints.h.
double mia_hand::thumb_opp_passive_joint::ThMinPos |
Lower Limit of the thumb_opp joint.
Definition at line 104 of file mia_thumb_opp_passivejoints.h.