From 34c8148b84faffbad039e57c41b1450e4b864b9c Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Sat, 25 Nov 2017 11:52:53 +0100
Subject: [PATCH] Add a method createGraspAndComplement in Handle classes
- create a constraint merging a grasp constraint and its complement.
---
include/hpp/manipulation/handle.hh | 16 +++++++++-------
1 file changed, 9 insertions(+), 7 deletions(-)
diff --git a/include/hpp/manipulation/handle.hh b/include/hpp/manipulation/handle.hh
index e59c784..3a2f621 100644
--- a/include/hpp/manipulation/handle.hh
+++ b/include/hpp/manipulation/handle.hh
@@ -99,23 +99,25 @@ namespace hpp {
/// \param gripper object containing the gripper information
/// \return the constraint of relative transformation between the handle
/// and the gripper.
- /// \note The 6 DOFs of the relative transformation are constrained.
+ /// The degrees of freedom of the relative transformation that are
+ /// constrained are determined by the mask. \sa NumericalConstraint::mask.
+ /// The constraint is not parameterizable (has constant right hand side).
virtual NumericalConstraintPtr_t createGrasp
(const GripperPtr_t& gripper, std::string name) const;
/// Create complement constraint of gripper grasping this handle
/// \param gripper object containing the gripper information
- /// \return trivial constraint
- /// \note for this base class, the complement constraint is trivial, i.e.
- /// it is of dimension 0.
+ /// \return complement constraint: constraint combined with its complement
+ /// constitute a full relative transformation constraint.
+ /// The complement constraint is parameterizable (has non constant right
+ /// hand side).
virtual NumericalConstraintPtr_t createGraspComplement
(const GripperPtr_t& gripper, std::string name) const;
/// Create constraint composed of grasp constraint and its complement
/// \param gripper object containing the gripper information
- /// \return the composition of grasp constraint and its complement.
- /// \note for this base class, this constraint is the same as the grasp
- /// constraint.
+ /// \return the composition of grasp constraint and its complement, that
+ /// that is a full relative transformation constraint.
virtual NumericalConstraintPtr_t createGraspAndComplement
(const GripperPtr_t& gripper, std::string name) const;
--
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