Detailed Description

template<typename T>
class drake::examples::planar_gripper::GripperBrickHelper< T >

The helper class that contains the diagram of the planar gripper (3 planar fingers) with a brick.

#include <drake/examples/planar_gripper/gripper_brick.h>

Public Member Functions
	GripperBrickHelper ()

const systems::Diagram< T > &	diagram () const

systems::Diagram< T > *	get_mutable_diagram ()

const multibody::MultibodyPlant< T > &	plant () const

multibody::MultibodyPlant< T > *	get_mutable_plant ()

int	finger_base_position_index (Finger finger) const
	The index of the base joint for a given finger in MultibodyPlant. More...

int	finger_mid_position_index (Finger finger) const
	The index of the middle joint for a given finger in MultibodyPlant. More...

int	brick_translate_y_position_index () const

int	brick_translate_z_position_index () const

int	brick_revolute_x_position_index () const

Eigen::Vector3d	p_L2Fingertip () const
	Position of the finger tip sphere center "Tip" in the finger_link2 frame. More...

const multibody::Frame< double > &	brick_frame () const

const multibody::Frame< double > &	finger_link2_frame (Finger finger) const

double	finger_tip_radius () const

Eigen::Vector3d	brick_size () const

template<typename U >
U	CalcFingerLink2Orientation (Finger finger, const U &base_joint_angle, const U &middle_joint_angle) const
	Return the orientation of link 2. More...

geometry::GeometryId	finger_tip_sphere_geometry_id (Finger finger) const

geometry::GeometryId	brick_geometry_id () const

multibody::CoulombFriction< T >	GetFingerTipBrickCoulombFriction (Finger finger) const

Constructor & Destructor Documentation

◆ GripperBrickHelper()

GripperBrickHelper ( )

Member Function Documentation

◆ brick_frame()

const multibody::Frame<double>& brick_frame ( ) const

◆ brick_geometry_id()

geometry::GeometryId brick_geometry_id ( ) const

◆ brick_revolute_x_position_index()

int brick_revolute_x_position_index ( ) const

◆ brick_size()

Eigen::Vector3d brick_size ( ) const

◆ brick_translate_y_position_index()

int brick_translate_y_position_index ( ) const

◆ brick_translate_z_position_index()

int brick_translate_z_position_index ( ) const

◆ CalcFingerLink2Orientation()

U CalcFingerLink2Orientation	(	Finger	finger,
		const U &	base_joint_angle,
		const U &	middle_joint_angle
	)		const

Return the orientation of link 2.

Notice that since the finger only moves in the planar surface, the orientation can be represented by the rotation angle around the world x axis.

◆ diagram()

const systems::Diagram<T>& diagram ( ) const

◆ finger_base_position_index()

int finger_base_position_index ( Finger finger ) const

The index of the base joint for a given finger in MultibodyPlant.

◆ finger_link2_frame()

const multibody::Frame<double>& finger_link2_frame ( Finger finger ) const

◆ finger_mid_position_index()

int finger_mid_position_index ( Finger finger ) const

The index of the middle joint for a given finger in MultibodyPlant.

◆ finger_tip_radius()

double finger_tip_radius ( ) const

◆ finger_tip_sphere_geometry_id()

geometry::GeometryId finger_tip_sphere_geometry_id ( Finger finger ) const

◆ get_mutable_diagram()

systems::Diagram<T>* get_mutable_diagram ( )

◆ get_mutable_plant()

multibody::MultibodyPlant<T>* get_mutable_plant ( )

◆ GetFingerTipBrickCoulombFriction()

multibody::CoulombFriction<T> GetFingerTipBrickCoulombFriction ( Finger finger ) const

◆ p_L2Fingertip()

Eigen::Vector3d p_L2Fingertip ( ) const

Position of the finger tip sphere center "Tip" in the finger_link2 frame.

◆ plant()

const multibody::MultibodyPlant<T>& plant ( ) const

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

drake/examples/planar_gripper/gripper_brick.h