SimpleFinger Class Reference

#include <SimpleFinger.hpp>

Inherits Primitive.

Public Types
typedef rw::core::Ptr< SimpleFinger >	Ptr
	Smart pointer to this type of class.
Public Types inherited from Primitive
typedef rw::core::Ptr< Primitive >	Ptr
	Smart pointer to this type of class.
Public Types inherited from GeometryData
enum	GeometryType {   PointCloud , LineMesh , PlainTriMesh , IdxTriMesh ,   SpherePrim , BoxPrim , OBBPrim , AABBPrim ,   LinePrim , PointPrim , PyramidPrim , ConePrim ,   TrianglePrim , CylinderPrim , TubePrim , PlanePrim ,   RayPrim , Implicit , Quadratic , UserType }
	geometry data types
typedef rw::core::Ptr< GeometryData >	Ptr
	smart pointer type to this class
typedef rw::core::Ptr< const GeometryData >	CPtr
	const smart pointer type to this class

Public Member Functions
	SimpleFinger ()
	SimpleFinger (const rw::math::Q &initQ)
virtual rw::geometry::TriMesh::Ptr	createMesh (int resolution=0) const
	get the parameters that define this primitive More...
virtual rw::math::Q	getParameters () const
	get the parameters that define this primitive More...
virtual void	setParameters (const rw::math::Q &q)
	set the parameters that define this primitive More...
GeometryType	getType () const
	the type of this primitive More...
double	getLength () const
void	setLength (double value)
double	getWidth () const
void	setWidth (double value)
double	getDepth () const
void	setDepth (double value)
double	getChamferLength () const
void	setChamferLength (double value)
double	getChamferDepth () const
void	setChamferDepth (double value)
double	getCutPosition () const
void	setCutPosition (double value)
double	getCutDepth () const
void	setCutDepth (double value)
double	getCutAngle () const
void	setCutAngle (double value)
double	getCutTilt () const
void	setCutTilt (double value)
Public Member Functions inherited from Primitive
virtual	~Primitive ()
	destructor
TriMesh::Ptr	getTriMesh (bool forceCopy=true)
	gets a trimesh representation of this geometry data. More...
virtual bool	isConvex ()
	test if this geometry data is convex More...
bool	isInside (const rw::math::Vector3D< double > &point)
	test if a point is on the border or inside this primitive
Public Member Functions inherited from GeometryData
virtual	~GeometryData ()
	Destructor.

Additional Inherited Members
Static Public Member Functions inherited from GeometryData
static std::string	toString (GeometryType type)
	format GeometryType to string More...
Protected Member Functions inherited from Primitive
virtual bool	doIsInside (const rw::math::Vector3D< double > &point)
	Check if point lies inside geometry. More...
	Primitive (int levels=20)
	Constructor. More...

Detailed Description

Defines customized geometry for a simple gripper finger shape.

Constructor & Destructor Documentation

SimpleFinger() [1/2]

SimpleFinger

(

)

Constructor.

Creates a basic finger shape – box (0.2 x 0.025 x 0.01) with no extra geometric features.

SimpleFinger() [2/2]

SimpleFinger

(

const rw::math::Q &

initQ

)

Constructor.

Parameters

initQ

[in] vector of parameters (length, width, depth, chflength, chfdepth, cutpos, cutdepth, cutangle, cuttilt).

Member Function Documentation

createMesh()

virtual rw::geometry::TriMesh::Ptr createMesh ( int  resolution = 0 ) const

virtual

get the parameters that define this primitive

Implements Primitive.

getParameters()

virtual rw::math::Q getParameters ( ) const

virtual

get the parameters that define this primitive

Implements Primitive.

getType()

GeometryType getType ( ) const

inlinevirtual

the type of this primitive

Implements GeometryData.

setParameters()

virtual void setParameters ( const rw::math::Q &  q )

virtual

set the parameters that define this primitive

Implements Primitive.

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

• SimpleFinger.hpp