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| SuctionCup (const std::string &name, rwsim::dynamics::Body::Ptr base, rwsim::dynamics::RigidBody::Ptr end, const rw::math::Transform3D<> &bTb2, double radi, double height, rw::math::Q springConstant1, rw::math::Q springConstant2) |
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rwsim::dynamics::Body::Ptr | getBaseBody () |
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rwsim::dynamics::Body::Ptr | getEndBody () |
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void | addToWorkCell (rw::core::Ptr< rwsim::dynamics::DynamicWorkCell > dwc) |
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double | getRadius () |
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double | getHeight () |
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rw::math::Q | getSpringParamsOpen () |
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rw::math::Q | getSpringParamsClosed () |
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rw::math::Q | getJointVelocities (const rw::kinematics::State &state) |
| get the current velocities of all joints More...
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void | setJointVelocities (const rw::math::Q &vel, rw::kinematics::State &state) |
| Set the velocities of the joints. More...
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void | addForceTorque (const rw::math::Q &forceTorque, rw::kinematics::State &state) |
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rw::math::Transform3D | getOffset () |
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const std::vector< rwsim::dynamics::Body::Ptr > & | getLinks () |
| Get all links in the dynamic device. More...
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bool | isClosed (const rw::kinematics::State &state) |
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void | setClosed (bool closed, rw::kinematics::State &state) |
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rwsim::dynamics::Body::Ptr | getContactBody (const rw::kinematics::State &state) |
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void | setContactBody (rwsim::dynamics::Body::Ptr b, rw::kinematics::State &state) |
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double | getPressure (const rw::kinematics::State &state) |
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void | setPressure (double pressure, rw::kinematics::State &state) |
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virtual | ~DynamicDevice () |
| Destructor.
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virtual rw::math::Q | getQ (const rw::kinematics::State &state) |
| gets the position
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virtual void | setQ (const rw::math::Q &q, rw::kinematics::State &state) |
| Set the position of the joints. More...
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rw::models::Device & | getModel () |
| gets the kinematic model of the DynamicDevice.
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rw::models::Device::Ptr | getKinematicModel () |
| Get the kinematic model of the device. More...
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dynamics::Body::Ptr | getBase () |
| Get the base of the device. More...
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virtual rw::math::Q | getVelocity (const rw::kinematics::State &state) |
| deprecated More...
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virtual void | setVelocity (const rw::math::Q &vel, rw::kinematics::State &state) |
| Set the velocities of the joints. More...
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virtual void | setMotorVelocityTargets (const rw::math::Q &vel, rw::kinematics::State &state) |
| Set motor targets for the joints. More...
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const std::string & | getName () const |
| Get the name of the dynamic device. More...
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virtual | ~Stateless () |
| destructor
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virtual void | registerIn (State &state) |
| initialize this stateless data to a specific state More...
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virtual void | registerIn (StateStructure::Ptr state) |
| register this stateless object in a statestructure.
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virtual void | unregister () |
| unregisters all state data of this stateless object
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StateStructure::Ptr | getStateStructure () |
| Get the state structure. More...
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const StateStructure::Ptr | getStateStructure () const |
| Get the state structure. More...
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bool | isRegistered () |
| Check if object has registered its state. More...
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a suction cup with circular end effector.
This is a complex device. That use a CompositeBody to model a semi-elastic geometry which is a composite of several rigid parts. It use a sensor for detecting contacting state with surface of another body and a controller for controlling the forces acting due to the suction.