bhandforce.h File Reference

#include <string>
#include <zbsplinefunction.h>
#include "bhand.h"
#include "bhandext.h"
#include "bhkinematic.h"
#include "bhfinger.h"
#include "bhspread.h"
#include "bhspeedgen.h"

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Data Structures
class	BHandForce
	Class for Force controlled movements of barret hand. More...
class	MoveStruct
	Contains the constraints for a movement for each finger and the spread. More...
Defines
#define	DEFAULT_LOOP_CTRL_VEL_COEFF   8
#define	DEFAULT_MAX_POS_ERROR_FINGER   25
#define	DEFAULT_MAX_POS_ERROR_SPREAD   50
#define	DELTA_POS_COEFF   6
#define	MAX_FORCE_ERROR   10
Enumerations
enum	RTFlags { UNKOWN, FINGER_MODE, FORCE_MODE, MOVE_MODE }
	Possible states for the (predefined) RealTime Mode flags of the BarrettHand. More...

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Detailed Description

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Define Documentation

#define DEFAULT_LOOP_CTRL_VEL_COEFF   8

Default value for velocity coefficent

#define DEFAULT_MAX_POS_ERROR_FINGER   25

Default maximual allowed error for finger position

#define DEFAULT_MAX_POS_ERROR_SPREAD   50

Default maximual allowed error for spred position

#define DELTA_POS_COEFF   6

Delta Position coefficent

#define MAX_FORCE_ERROR   10

Default maximal allowed arrow for force adjusting mode.

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Enumeration Type Documentation

enum RTFlags

Possible states for the (predefined) RealTime Mode flags of the BarrettHand.

In the force mode no motion is possible. Otherwise in the move mode it makes no sense to get only force values, motion speed will always be required.

See also:

BHandForce::setRTDefaults()

BHandForce::setRTForceDefaults()

Enumerator:

UNKOWN	If the RealTime mode is disabled
FINGER_MODE	If only the the flags for the fingers are set
FORCE_MODE	If the RealTime parameters are set to froce read Mode
MOVE_MODE	If the RealTime parameters are set to move mode

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Tim Baier bhandlib v0.25

Generated Wed Aug 16 14:57:21 2006 by 1.4.7