BHandForceKin Class Reference
[Module to get "higer-level" (force) control of a BarrettHand]

Class for force controlled hand movements with degree as parameter. More...

#include <bhandforcekin.h>

Inheritance diagram for BHandForceKin:

[legend]Collaboration diagram for BHandForceKin:

[legend]

Public Member Functions
	BHandForceKin (std::string devName)
	Default constructor.
virtual	~BHandForceKin ()
	Destructor.
Movement Commands
Movement commands are motor commands: they immediately affect one or more of the motors.
void	move (const Motors motors, const float position[4]) throw (BHandException)
	Moves all Motors to the given Position.
void	move (const Motors motors, const float position) throw (BHandException)
	moves motors to position.
Movement Parameter Commands
Movement parameter commands have effects on the movement commands.
void	setPos (const Motors motors, const float position)
	Sets the desired positions.

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Detailed Description

Class for force controlled hand movements with degree as parameter.

This class combines the options of the BHandForce with the ones given by BHKinematic. With this class you are abled to move the joints by using joint angles and not MotorCounts as unit for the commands.

Examples:

main_compliantfingers.cc.

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Constructor & Destructor Documentation

BHandForceKin::BHandForceKin

(

std::string

devName

)

Default constructor.

Parameters:

devName

Name of the device for the serial port to which the hand is attached.

BHandForceKin::~BHandForceKin

(

)

[virtual]

Destructor.

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Member Function Documentation

void BHandForceKin::move	(	const Motors	motors,
		const float	position[4]
	)			throw (BHandException)

Moves all Motors to the given Position.

If the Limit force of one of the fingers is reached, the motion for the coressponding will be stopped. If F1 or F2 force is exceeded Spread Motion will be stoped also.
The proportional gain value of each motor is ignored!
The function watches the Temperature of the Hand!

Parameters:

	motors	Motors to move.
	position	Desired positions of motors. Unit: Angle DEG The order of the positions must be [F!,F2,F3,Spread]

void BHandForceKin::move	(	const Motors	motors,
		const float	position
	)			throw (BHandException)

moves motors to position.

If the Limit force of one of the fingers is reached, the motion for the coressponding finger will be stopped. If F1 or F2 force is exceeded Spread Motion will be stoped also.
The proportional gain value of each motor is ignored!
The function watches the Temperature of the Hand!

Parameters:

	motors	Motors to move.
	position	Destinated position. Unit: Angle DEG

void BHandForceKin::setPos	(	const Motors	motors,
		const float	position
	)

Sets the desired positions.

Sets the positoin to wich the motor should be moved by the nect move(const Motors motors) command.

Parameters:

	motors	Motors to be moved
	position	position for the motors. Unit: Angle DEG

See also:

BHandForce::move(const Motors motors)

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

• bhandforcekin.h
• bhandforcekin.cc

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Tim Baier bhandlib v0.25

Generated Wed Aug 16 14:59:16 2006 by 1.4.7