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GraspSubTask Class Reference

Describes a sub task of overall grasp task. More...

#include <GraspSubTask.hpp>

Public Member Functions

void addTarget (const rw::math::Transform3D<> &target)
 
void addTarget (const GraspTarget &target)
 
rw::math::QgetOpenQ ()
 
rw::math::QgetCloseQ ()
 
rw::math::QgetTauMax ()
 
void setOpenQ (const rw::math::Q &q)
 
void setCloseQ (const rw::math::Q &q)
 
void setTauMax (const rw::math::Q &q)
 
const rw::math::Transform3DgetOffset ()
 
void setRetract (const rw::math::Transform3D<> &t3d)
 
bool hasRetract ()
 
const rw::math::Transform3DgetRetract ()
 
void setApproach (const rw::math::Transform3D<> &t3d)
 
bool hasApproach ()
 
const rw::math::Transform3DgetApproach ()
 
void setRefFrame (const std::string &rframe)
 
std::string getRefFrame ()
 
GraspSubTask clone ()
 Clones the subtask copying everything except targets.
 
std::vector< GraspTarget > & getTargets ()
 
std::string getTaskID ()
 
void setTaskID (const std::string &ID)
 

Public Attributes

std::string refframe
 
std::string objectID
 
rw::math::Transform3D offset
 
rw::math::Transform3D approach
 
rw::math::Transform3D retract
 
rw::math::Q openQ
 
rw::math::Q closeQ
 
rw::math::Q tauMax
 
std::vector< GraspTargettargets
 
std::string taskID
 

Detailed Description

Describes a sub task of overall grasp task.

It is concerned with a specific way of grasping a single target object, describing:


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