From ae34cfef4f80bee875f02083c512516f1e2891e6 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 27 Jan 2016 14:21:45 +0100
Subject: [PATCH] PreGrasp are not using inequality constraints. Remove
Handle::preGrapsComplement
---
include/hpp/manipulation/handle.hh | 20 ++++----------------
src/handle.cc | 27 ++++-----------------------
2 files changed, 8 insertions(+), 39 deletions(-)
diff --git a/include/hpp/manipulation/handle.hh b/include/hpp/manipulation/handle.hh
index b3b4597..a62481d 100644
--- a/include/hpp/manipulation/handle.hh
+++ b/include/hpp/manipulation/handle.hh
@@ -102,23 +102,11 @@ namespace hpp {
/// \param gripper object containing the gripper information
/// \return the constraint of relative transformation between the handle and
/// the gripper.
- /// \note Only 5 DOFs of the relative transformation between the handle and the gripper
- /// are constrained. The translation along x-axis is not constrained.
+ /// \note 6 DOFs of the relative transformation between the handle and the gripper
+ /// are constrained. The transformation is shifted along x-axis of
+ /// value shift.
virtual NumericalConstraintPtr_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
- /// \param shift the target value along the x-axis
- /// \param width width of the interval of freedom of gripper along x-axis.
- /// \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.
- virtual NumericalConstraintPtr_t createPreGraspComplement
- (const GripperPtr_t& gripper, const value_type& shift,
- const value_type& width) const;
+ (const GripperPtr_t& gripper, const value_type& shift) const;
static NumericalConstraintPtr_t createGrasp
(const GripperPtr_t& gripper,const HandlePtr_t& handle)
diff --git a/src/handle.cc b/src/handle.cc
index 6122a5d..0bc20cc 100644
--- a/src/handle.cc
+++ b/src/handle.cc
@@ -93,38 +93,19 @@ namespace hpp {
}
NumericalConstraintPtr_t Handle::createPreGrasp
- (const GripperPtr_t& gripper) const
- {
- using boost::assign::list_of;
- std::vector <bool> mask = list_of (false)(true)(true)(true)(true)(true);
- return NumericalConstraintPtr_t
- (NumericalConstraint::create (RelativeTransformation::create
- ("Transformation_(0,1,1,1,1,1)_" + name ()
- + "_" + gripper->name (),
- gripper->joint()->robot(),
- gripper->joint (), joint (),
- gripper->objectPositionInJoint (),
- localPosition(), mask)));
- }
-
- NumericalConstraintPtr_t Handle::createPreGraspComplement
- (const GripperPtr_t& gripper, const value_type& shift,
- const value_type& width) const
+ (const GripperPtr_t& gripper, const value_type& shift) const
{
using boost::assign::list_of;
- using core::DoubleInequality;
- std::vector <bool> mask = list_of (true)(false)(false)(false)(false)
- (false);
+ std::vector <bool> mask = list_of (true)(true)(true)(true)(true)(true);
Transform3f transform = gripper->objectPositionInJoint ()
* Transform3f (fcl::Vec3f (shift,0,0));
return NumericalConstraintPtr_t
(NumericalConstraint::create (RelativeTransformation::create
- ("Transformation_(1,0,0,0,0,0)_" + name ()
+ ("Transformation_(0,1,1,1,1,1)_" + name ()
+ "_" + gripper->name (),
gripper->joint()->robot(),
gripper->joint (), joint (),
- transform, localPosition(), mask),
- DoubleInequality::create (width)));
+ transform, localPosition(), mask)));
}
HandlePtr_t Handle::clone () const
--
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