Commit 484fad33 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Florent Lamiraux
Browse files

Add clearance parameter to class Gripper.

parent e033ae35
......@@ -112,6 +112,24 @@ namespace hpp {
disabledCollisions_.clear();
}
/// Get the clearance
///
/// The clearance is a distance, from the center of the gripper and along
/// the x-aixs, that "ensures" an object being at that distance is not
/// colliding with this gripper.
/// It also gives an order of magnitude of the size of the gripper.
value_type clearance () const
{
return clearance_;
}
/// Set the clearance
/// \sa clearance()
void clearance (const value_type& clearance)
{
clearance_ = clearance;
}
//DifferentiableFunctionPtr_t createGrasp(HandlePtr_t& handle);
GripperPtr_t clone () const;
......@@ -131,6 +149,7 @@ namespace hpp {
name_ (name),
joint_ (joint),
objectPositionInJoint_ (objectPositionInJoint),
clearance_ (0),
disabledCollisions_(disabledCollisions)
{
}
......@@ -145,6 +164,8 @@ namespace hpp {
/// Joint of the robot that holds handles.
JointPtr_t joint_;
Transform3f objectPositionInJoint_;
/// Clearance
value_type clearance_;
/// Joints that will be in collision with the object
/// => disabled collision between object and bodies of the joints
JointVector_t disabledCollisions_;
......
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