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

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

Inheritance diagram for RobotHand:

Public Member Functions
RobotHand &	fileByArm (const RobotNameHelper::Arm &arm)

RobotHand &	fileByArm (const RobotNameHelper::RobotArm &arm)

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

RobotHand &	fileBySide (const std::string &side, RobotInfoNodePtr robotInfo)
	Set the robot file according the desired side.

RobotHand &	tcpPose (const Eigen::Matrix4f &tcpPose, VirtualRobot::RobotPtr robot)
	Set the pose of `robotViz` according to the given TCP pose.

Public Member Functions inherited from Robot
	ElementOps (std::string const &id)

Robot &	file (const armarx::PackagePath &packagePath)

Robot &	file (std::string const &project, std::string const &filename)

Robot &	joint (std::string const &name, float value)

Robot &	joints (std::map< std::string, float > const &values)

Robot &	overrideColor (Color c)

Robot &	useCollisionModel ()

Robot &	useFullModel ()

Robot &	useOriginalColor ()

Public Member Functions inherited from ElementOps< Robot, data::ElementRobot >
Robot &	color (Color color)

Robot &	color (Ts &&... ts)

Robot &	colorGlasbeyLUT (std::size_t id, int alpha=255)

	ElementOps (std::string const &id)

Robot &	enable (InteractionDescription const &interactionDescription)

Robot &	hide ()

Robot &	id (const std::string &id)

Robot &	orientation (Eigen::Matrix3f const &ori)

Robot &	orientation (Eigen::Quaternionf const &ori)

Robot &	orientation (float r, float p, float y)

Robot &	overrideMaterial (bool value)

Eigen::Matrix4f	pose () const

Robot &	pose (const Eigen::Affine3f &pose)

Robot &	pose (Eigen::Matrix4f const &pose)

Robot &	pose (Eigen::Vector3f const &position, Eigen::Matrix3f const &orientation)

Robot &	pose (Eigen::Vector3f const &position, Eigen::Quaternionf const &orientation)

Robot &	position (Eigen::Vector3f const &pos)

Robot &	position (float x, float y, float z)

Robot &	scale (Eigen::Vector3f scale)

Robot &	scale (float s)

Robot &	scale (float x, float y, float z)

Robot &	show ()

Robot &	transformPose (Eigen::Matrix4f const &p)

Robot &	visible (bool visible)

Public Attributes
std::optional< RobotNameHelper::Arm >	arm
	The arm name helper. Set by `fileBySide()`.

Public Attributes inherited from ElementOps< Robot, data::ElementRobot >
IceInternal::Handle< data::ElementRobot >	data_

Detailed Description

Left or right hand of a robot.

Member Function Documentation

◆ fileByArm() [1/2]

RobotHand & fileByArm ( const RobotNameHelper::Arm & arm )

◆ fileByArm() [2/2]

RobotHand & fileByArm ( const RobotNameHelper::RobotArm & arm )

◆ fileBySide() [1/2]

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

◆ fileBySide() [2/2]

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

Set the robot file according the desired side.

Parameters

side	The side ("Left" or "Right", see `RobotNameHelper::LocationLeft, LocationRight`)
robotInfo	The 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.

◆ 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().

Member Data Documentation

◆ arm

std::optional<RobotNameHelper::Arm> arm

The arm name helper. Set by fileBySide().

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

RobotAPI/components/ArViz/Client/elements/RobotHand.h
RobotAPI/components/ArViz/Client/elements/RobotHand.cpp

Public Member Functions

Public Attributes