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
-
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)