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RobWorkProject
22.2.21-
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RobWorkProject
22.2.21-
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#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 | |
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... | |
Defines customized geometry for a simple gripper finger shape.
| SimpleFinger | ( | ) |
Constructor.
Creates a basic finger shape – box (0.2 x 0.025 x 0.01) with no extra geometric features.
| SimpleFinger | ( | const rw::math::Q & | initQ | ) |
Constructor.
| initQ | [in] vector of parameters (length, width, depth, chflength, chfdepth, cutpos, cutdepth, cutangle, cuttilt). |
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virtual |
get the parameters that define this primitive
Implements Primitive.
|
virtual |
get the parameters that define this primitive
Implements Primitive.
|
inlinevirtual |
the type of this primitive
Implements GeometryData.
|
virtual |
set the parameters that define this primitive
Implements Primitive.
1.8.17