AllegroHandMotionState Class Reference

Detailed Description

Detecting the state of the fingers: whether the joints are moving, or reached the destination, or got stuck by external collisions in the midway.

The class uses only the hand status from the MBP as the input, and calculate the state according to the position, velocity, and command position of each joint. The class also contains two commonly used pre-set joint state for opening the hand and closing the hand for grasping.

#include <drake/examples/allegro_hand/allegro_common.h>

Public Member Functions
	AllegroHandMotionState ()
void	Update (const lcmt_allegro_status &allegro_state_msg)
	Update the states of the joints and fingers upon receiving the new message about hand staties. More...
Eigen::Vector4d	FingerGraspJointPosition (int finger_index) const
	Pre-set joint positions for grasping objects and open hands. More...
Eigen::Vector4d	FingerOpenJointPosition (int finger_index) const
bool	IsFingerStuck (int finger_index) const
	Returns true when the finger is stuck, which means the joints on the finger stops moving or back driving, regardless of it having reached the target position or not. More...
bool	IsAllFingersStuck () const
bool	IsAnyHighFingersStuck () const
	Return whether any of the fingers, other than the thumb, is stuck. More...
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	AllegroHandMotionState (const AllegroHandMotionState &)=default
AllegroHandMotionState &	operator= (const AllegroHandMotionState &)=default
	AllegroHandMotionState (AllegroHandMotionState &&)=default
AllegroHandMotionState &	operator= (AllegroHandMotionState &&)=default

Constructor & Destructor Documentation

AllegroHandMotionState() [1/3]

AllegroHandMotionState ( const AllegroHandMotionState &  )

default

AllegroHandMotionState() [2/3]

AllegroHandMotionState ( AllegroHandMotionState &&  )

default

AllegroHandMotionState() [3/3]

AllegroHandMotionState

(

)

Member Function Documentation

FingerGraspJointPosition()

Eigen::Vector4d FingerGraspJointPosition

(

int

finger_index

)

const

Pre-set joint positions for grasping objects and open hands.

Parameters

finger_index

the index of the fingers whose joint values are in request.

FingerOpenJointPosition()

Eigen::Vector4d FingerOpenJointPosition

(

int

finger_index

)

const

IsAllFingersStuck()

bool IsAllFingersStuck

(

)

const

IsAnyHighFingersStuck()

bool IsAnyHighFingersStuck

(

)

const

Return whether any of the fingers, other than the thumb, is stuck.

IsFingerStuck()

bool IsFingerStuck

(

int

finger_index

)

const

Returns true when the finger is stuck, which means the joints on the finger stops moving or back driving, regardless of it having reached the target position or not.

operator=() [1/2]

AllegroHandMotionState& operator= ( AllegroHandMotionState &&  )

default

operator=() [2/2]

AllegroHandMotionState& operator= ( const AllegroHandMotionState &  )

default

Update()

void Update

(

const lcmt_allegro_status &

allegro_state_msg

)

Update the states of the joints and fingers upon receiving the new message about hand staties.

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

• drake/examples/allegro_hand/allegro_common.h