RobotHand Class Reference

Left or right hand of a robot. More...

#include <RobotAPI/components/ArViz/Client/elements/RobotHand.h>

+ Inheritance diagram for RobotHand:

Public Member Functions

RobotHandfileByArm (const RobotNameHelper::Arm &arm)
 
RobotHandfileByArm (const RobotNameHelper::RobotArm &arm)
 
RobotHandfileBySide (const std::string &side, const RobotNameHelper &nameHelper)
 
RobotHandfileBySide (const std::string &side, RobotInfoNodePtr robotInfo)
 Set the robot file according the desired side. More...
 
RobotHandtcpPose (const Eigen::Matrix4f &tcpPose, VirtualRobot::RobotPtr robot)
 Set the pose of robotViz according to the given TCP pose. More...
 
- Public Member Functions inherited from Robot
 ElementOps (std::string const &id)
 
Robotfile (std::string const &project, std::string const &filename)
 
Robotjoint (std::string const &name, float value)
 
Robotjoints (std::map< std::string, float > const &values)
 
RobotoverrideColor (Color c)
 
RobotuseCollisionModel ()
 
RobotuseFullModel ()
 
RobotuseOriginalColor ()
 
- Public Member Functions inherited from ElementOps< Robot, data::ElementRobot >
Robotcolor (Color color)
 
Robotcolor (Ts &&...ts)
 
RobotcolorGlasbeyLUT (std::size_t id, int alpha=255)
 
 ElementOps (std::string const &id)
 
Robotenable (InteractionDescription const &interactionDescription)
 
Robothide ()
 
Robotid (const std::string &id)
 
Robotorientation (Eigen::Matrix3f const &ori)
 
Robotorientation (Eigen::Quaternionf const &ori)
 
Robotorientation (float r, float p, float y)
 
RobotoverrideMaterial (bool value)
 
Eigen::Matrix4f pose () const
 
Robotpose (const Eigen::Affine3f &pose)
 
Robotpose (Eigen::Matrix4f const &pose)
 
Robotpose (Eigen::Vector3f const &position, Eigen::Matrix3f const &orientation)
 
Robotpose (Eigen::Vector3f const &position, Eigen::Quaternionf const &orientation)
 
Robotposition (Eigen::Vector3f const &pos)
 
Robotposition (float x, float y, float z)
 
Robotscale (Eigen::Vector3f scale)
 
Robotscale (float s)
 
Robotscale (float x, float y, float z)
 
Robotshow ()
 
RobottransformPose (Eigen::Matrix4f const &p)
 
Robotvisible (bool visible)
 

Public Attributes

std::optional< RobotNameHelper::Armarm
 The arm name helper. Set by fileBySide(). More...
 
- Public Attributes inherited from ElementOps< Robot, data::ElementRobot >
IceInternal::Handle< data::ElementRobot > data_
 

Detailed Description

Left or right hand of a robot.

Definition at line 19 of file RobotHand.h.

Member Function Documentation

◆ fileByArm() [1/2]

RobotHand & fileByArm ( const RobotNameHelper::Arm arm)

Definition at line 22 of file RobotHand.cpp.

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◆ fileByArm() [2/2]

RobotHand & fileByArm ( const RobotNameHelper::RobotArm arm)

Definition at line 29 of file RobotHand.cpp.

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◆ fileBySide() [1/2]

RobotHand & fileBySide ( const std::string &  side,
const RobotNameHelper nameHelper 
)

Definition at line 16 of file RobotHand.cpp.

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◆ fileBySide() [2/2]

RobotHand & fileBySide ( const std::string &  side,
RobotInfoNodePtr  robotInfo 
)

Set the robot file according the desired side.

Parameters
sideThe side ("Left" or "Right", see RobotNameHelper::LocationLeft, LocationRight)
robotInfoThe robot info. You can get it from a RobotStateComponent: robotStateComponent->getRobotInfo(). If you do this in a loop, you should get the robot info just once before the loop.

Definition at line 9 of file RobotHand.cpp.

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◆ tcpPose()

RobotHand & tcpPose ( const Eigen::Matrix4f &  tcpPose,
VirtualRobot::RobotPtr  robot 
)

Set the pose of robotViz according to the given TCP pose.

You must specify the side beforehand using fileBySide().

Definition at line 34 of file RobotHand.cpp.

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Member Data Documentation

◆ arm

std::optional<RobotNameHelper::Arm> arm

The arm name helper. Set by fileBySide().

Definition at line 48 of file RobotHand.h.


The documentation for this class was generated from the following files: