From 891ca96699c53b06aac281f919aa27ceae8da4ff Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 26 Aug 2015 19:01:27 +0200
Subject: [PATCH] createPreGraspComplement makes use of the clearance
parameters.
* old createPreGraspComplement is now deprecated.
* a new createPreGraspComplement without the shift argument is introduced.
---
include/hpp/manipulation/axial-handle.hh | 19 +++++++++++++++++--
include/hpp/manipulation/handle.hh | 16 +++++++++++++++-
src/axial-handle.cc | 13 +++++++++++++
src/handle.cc | 12 ++++++++++++
4 files changed, 57 insertions(+), 3 deletions(-)
diff --git a/include/hpp/manipulation/axial-handle.hh b/include/hpp/manipulation/axial-handle.hh
index 1f220e3..590eb44 100644
--- a/include/hpp/manipulation/axial-handle.hh
+++ b/include/hpp/manipulation/axial-handle.hh
@@ -70,13 +70,28 @@ namespace hpp {
/// Create constraint that acts on the non-constrained axis of the
/// constraint generated by Handle::createPreGrasp.
+ /// \warning {currently, the only constrained axis is x. The rotation
+ /// around the z-axis is not constrained.}
+ /// \param gripper object containing the gripper information
+ /// \return the constraint of relative position between the handle and
+ /// the gripper.
+ /// \note The translation along x-axis is constrained.
+ virtual DifferentiableFunctionPtr_t createPreGraspComplement
+ (const GripperPtr_t& gripper) const;
+
+ /// Create constraint that acts on the non-constrained axis of the
+ /// constraint generated by Handle::createPreGrasp.
+ /// \warning {currently, the only constrained axis is x. The rotation
+ /// around the z-axis is not constrained.}
/// \param gripper object containing the gripper information
/// \param shift the target value along the x-axis
/// \return the constraint of relative position between the handle and
/// the gripper.
- /// \note The translation along x-axis and the rotation around z-axis are constrained.
+ /// \note The translation along x-axis is constrained.
+ /// \deprecated Use createPreGraspComplement(const GripperPtr_t&) instead.
virtual DifferentiableFunctionPtr_t createPreGraspComplement
- (const GripperPtr_t& gripper, const value_type& shift) const;
+ (const GripperPtr_t& gripper, const value_type& shift) const
+ HPP_MANIPULATION_DEPRECATED;
virtual std::ostream& print (std::ostream& os) const;
protected:
diff --git a/include/hpp/manipulation/handle.hh b/include/hpp/manipulation/handle.hh
index ee1da30..3c76664 100644
--- a/include/hpp/manipulation/handle.hh
+++ b/include/hpp/manipulation/handle.hh
@@ -21,6 +21,7 @@
# define HPP_MANIPULATION_HANDLE_HH
# include <hpp/fcl/math/transform.h>
+# include <hpp/manipulation/deprecated.hh>
# include <hpp/manipulation/config.hh>
# include <hpp/manipulation/fwd.hh>
@@ -107,6 +108,17 @@ namespace hpp {
virtual DifferentiableFunctionPtr_t createPreGrasp
(const GripperPtr_t& gripper) const;
+ /// Create constraint that acts on the non-constrained axis of the
+ /// constraint generated by Handle::createPreGrasp.
+ /// \param gripper object containing the gripper information
+ /// \return the constraint of relative position between the handle and
+ /// the gripper.
+ /// \note Only the x-axis of the relative transformation between the handle and the gripper
+ /// is constrained. The centers are shifted of
+ /// \f clearance () + gripper->clearance ()\f along the x-axis.
+ virtual DifferentiableFunctionPtr_t createPreGraspComplement
+ (const GripperPtr_t& gripper) const;
+
/// Create constraint that acts on the non-constrained axis of the
/// constraint generated by Handle::createPreGrasp.
/// \param gripper object containing the gripper information
@@ -115,8 +127,10 @@ namespace hpp {
/// the gripper.
/// \note Only the x-axis of the relative transformation between the handle and the gripper
/// is constrained.
+ /// \deprecated Use createPreGraspComplement(const GripperPtr_t&) instead.
virtual DifferentiableFunctionPtr_t createPreGraspComplement
- (const GripperPtr_t& gripper, const value_type& shift) const;
+ (const GripperPtr_t& gripper, const value_type& shift) const
+ HPP_MANIPULATION_DEPRECATED;
static DifferentiableFunctionPtr_t createGrasp
(const GripperPtr_t& gripper,const HandlePtr_t& handle)
diff --git a/src/axial-handle.cc b/src/axial-handle.cc
index 9e8cbfe..0ef632f 100644
--- a/src/axial-handle.cc
+++ b/src/axial-handle.cc
@@ -62,6 +62,19 @@ namespace hpp {
inverse (localPosition()) * gripper->objectPositionInJoint (), mask);
}
+ DifferentiableFunctionPtr_t AxialHandle::createPreGraspComplement
+ (const GripperPtr_t& gripper) const
+ {
+ using boost::assign::list_of;
+ std::vector <bool> mask = list_of (true)(false)(false);
+ Transform3f transform = inverse (localPosition()) * gripper->objectPositionInJoint ();
+ fcl::Vec3f target = transform.getTranslation ()
+ + fcl::Vec3f (clearance () + gripper->clearance (),0,0);
+ return RelativePosition::create ("Position_(1,0,0)_" + name () + "_" + gripper->name (),
+ gripper->joint()->robot(), gripper->joint (), joint(), target, fcl::Vec3f (0,0,0), mask);
+ }
+
+
DifferentiableFunctionPtr_t AxialHandle::createPreGraspComplement
(const GripperPtr_t& gripper, const value_type& shift) const
{
diff --git a/src/handle.cc b/src/handle.cc
index 8727e64..b456ea6 100644
--- a/src/handle.cc
+++ b/src/handle.cc
@@ -62,6 +62,18 @@ namespace hpp {
gripper->joint()->robot(), gripper->joint (), joint(), transform, mask);
}
+ DifferentiableFunctionPtr_t Handle::createPreGraspComplement
+ (const GripperPtr_t& gripper) const
+ {
+ using boost::assign::list_of;
+ std::vector <bool> mask = list_of (true)(false)(false);
+ Transform3f transform = inverse (localPosition()) * gripper->objectPositionInJoint ();
+ fcl::Vec3f target = transform.getTranslation ()
+ + fcl::Vec3f (clearance () + gripper->clearance (),0,0);
+ return RelativePosition::create ("Position_(1,0,0)_" + name () + "_" + gripper->name (),
+ gripper->joint()->robot(), gripper->joint (), joint(), target, fcl::Vec3f (0,0,0), mask);
+ }
+
DifferentiableFunctionPtr_t Handle::createPreGraspComplement
(const GripperPtr_t& gripper, const value_type& shift) const
{
--
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