RobWorkProject  24.5.15-
Public Types | Public Member Functions | List of all members
SimpleFinger Class Reference

#include <SimpleFinger.hpp>

Inherits Primitive.

Public Types

typedef rw::core::Ptr< SimpleFingerPtr
 Smart pointer to this type of class.
 
- Public Types inherited from Primitive
typedef rw::core::Ptr< PrimitivePtr
 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< GeometryDataPtr
 smart pointer type to this class
 
typedef rw::core::Ptr< const GeometryDataCPtr
 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]

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.


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