armarx::HandUnitInterface
Overview
Implements an interface to a HandUnit.
Operation Index
- setShape
-
setShape sets the name of a known hand shape for the hand unit.
- setShapeWithObjectInstance
-
- getShapeNames
-
getShapeNames returns a list of names of hand shapes known to the hand unit.
- getShapeJointValues
-
- getCurrentJointValues
-
- getHandName
-
- describeHandState
-
- setObjectGrasped
-
setObjectGrasped informs the hand unit that an object has been successfully grasped.
- setObjectReleased
-
setObjectReleased informs the hand unit that an object has been released.
- setJointAngles
-
setJointAngles controls the joints of the hand unit.
- setJointForces
-
- sendJointCommands
-
- reloadPreshapes
-
- tare
-
@brief Will tare the relative encoders of the hand.
- resetFirmware
-
@brief Will reset the firmware of the hand, enforcing a reboot.
Operations
void setShape(string shapeName)
setShape sets the name of a known hand shape for the hand unit.
Parameters
- shapeName
-
Name of the hand shape.
void setShapeWithObjectInstance(string shapeName, string objectInstanceName)
getShapeNames returns a list of names of hand shapes known to the hand unit.
Return Value
List of known hand shape names.
NameValueMap getShapeJointValues(string shapeName)
string getHandName()
string describeHandState()
void setObjectGrasped(string objectName)
setObjectGrasped informs the hand unit that an object has been successfully grasped.
Parameters
- objectName
-
Name of the object
E.g. a state that verifies if a grasp was successful can call this routine.
void setObjectReleased(string objectName)
setObjectReleased informs the hand unit that an object has been released.
Parameters
- objectName
-
Name of the object
E.g. a state that verifies if a grasp was successful can call this routine.
void setJointAngles(NameValueMap targetJointAngles)
setJointAngles controls the joints of the hand unit.
Parameters
- targetJointAngles
-
Map of joint names and corresponding joint angle values.
void setJointForces(NameValueMap targetJointForces)
void sendJointCommands(NameCommandMap targetJointCommands)
void reloadPreshapes()
void tare()
@brief Will tare the relative encoders of the hand.
For hands with relative encoders that support this function. No-op if not supported.
This will change the relative encoder calibration! Make sure the hand is fully opened
before taring.
void resetFirmware()
@brief Will reset the firmware of the hand, enforcing a reboot.
For hands that support this function. No-op if not supported.
This is a very disruptive operation and will result in the firmware rebooting for up to
several seconds, potentially dropping objects in the hand or homing procedures of the
hand motors. This is only meant to be used in cases where the hand is lost due to
connection issues and reconnections.