a suction cup with circular end effector. More...

#include <SuctionCup.hpp>

Public Types
typedef rw::core::Ptr< SuctionCup >	Ptr
	smart pointer type of SuctionCup

Public Types inherited from DynamicDevice
typedef rw::core::Ptr< DynamicDevice >	Ptr
	Smart pointer type for a DynamicDevice.

Public Types inherited from Stateless
typedef rw::core::Ptr< Stateless >	Ptr
	Smart pointer type for Stateless.

Public Member Functions
	SuctionCup (const std::string &name, rwsim::dynamics::Body::Ptr base, rwsim::dynamics::RigidBody::Ptr end, const rw::math::Transform3D<> &bTb2, double radi, double height, rw::math::Q springConstant1, rw::math::Q springConstant2)

rwsim::dynamics::Body::Ptr	getBaseBody ()

rwsim::dynamics::Body::Ptr	getEndBody ()

void	addToWorkCell (rw::core::Ptr< rwsim::dynamics::DynamicWorkCell > dwc)

double	getRadius ()

double	getHeight ()

rw::math::Q	getSpringParamsOpen ()

rw::math::Q	getSpringParamsClosed ()

rw::math::Q	getJointVelocities (const rw::kinematics::State &state)
	get the current velocities of all joints More...

void	setJointVelocities (const rw::math::Q &vel, rw::kinematics::State &state)
	Set the velocities of the joints. More...

void	addForceTorque (const rw::math::Q &forceTorque, rw::kinematics::State &state)

rw::math::Transform3D	getOffset ()

const std::vector< rwsim::dynamics::Body::Ptr > &	getLinks ()
	Get all links in the dynamic device. More...

bool	isClosed (const rw::kinematics::State &state)

void	setClosed (bool closed, rw::kinematics::State &state)

rwsim::dynamics::Body::Ptr	getContactBody (const rw::kinematics::State &state)

void	setContactBody (rwsim::dynamics::Body::Ptr b, rw::kinematics::State &state)

double	getPressure (const rw::kinematics::State &state)

void	setPressure (double pressure, rw::kinematics::State &state)

Public Member Functions inherited from DynamicDevice
virtual	~DynamicDevice ()
	Destructor.

virtual rw::math::Q	getQ (const rw::kinematics::State &state)
	gets the position

virtual void	setQ (const rw::math::Q &q, rw::kinematics::State &state)
	Set the position of the joints. More...

rw::models::Device &	getModel ()
	gets the kinematic model of the DynamicDevice.

rw::models::Device::Ptr	getKinematicModel ()
	Get the kinematic model of the device. More...

dynamics::Body::Ptr	getBase ()
	Get the base of the device. More...

virtual rw::math::Q	getVelocity (const rw::kinematics::State &state)
	deprecated More...

virtual void	setVelocity (const rw::math::Q &vel, rw::kinematics::State &state)
	Set the velocities of the joints. More...

virtual void	setMotorVelocityTargets (const rw::math::Q &vel, rw::kinematics::State &state)
	Set motor targets for the joints. More...

const std::string &	getName () const
	Get the name of the dynamic device. More...

Public Member Functions inherited from Stateless
virtual	~Stateless ()
	destructor

virtual void	registerIn (State &state)
	initialize this stateless data to a specific state More...

virtual void	registerIn (StateStructure::Ptr state)
	register this stateless object in a statestructure.

virtual void	unregister ()
	unregisters all state data of this stateless object

StateStructure::Ptr	getStateStructure ()
	Get the state structure. More...

const StateStructure::Ptr	getStateStructure () const
	Get the state structure. More...

bool	isRegistered ()
	Check if object has registered its state. More...

Additional Inherited Members
Protected Member Functions inherited from DynamicDevice
	DynamicDevice (dynamics::Body::Ptr base, rw::models::Device::Ptr dev)
	Construct new dynamic device. More...

Protected Member Functions inherited from Stateless
	Stateless ()
	constructor

template<class T >
void	add (StatelessData< T > &data)
	implementations of sensor should add all their stateless data on initialization

void	add (StateData *data)
	Add data. More...

void	add (rw::core::Ptr< StateData > data)
	implementations of sensor should add all their state data on initialization

Protected Attributes inherited from DynamicDevice
rw::models::Device::Ptr	_dev
	The kinematic model.

dynamics::Body::Ptr	_base
	The base of the device.

Protected Attributes inherited from Stateless
bool	_registered
	True if object has registered its state.

std::vector< rw::core::Ptr< StateData > >	_datas
	Data.

StateStructure::Ptr	_stateStruct
	The state structure.

Detailed Description

a suction cup with circular end effector.

This is a complex device. That use a CompositeBody to model a semi-elastic geometry which is a composite of several rigid parts. It use a sensor for detecting contacting state with surface of another body and a controller for controlling the forces acting due to the suction.

Member Function Documentation

◆ getJointVelocities()

rw::math::Q getJointVelocities ( const rw::kinematics::State & state )

inlinevirtual

get the current velocities of all joints

Parameters

state [in] the state

Returns: velocites of all joints

Implements DynamicDevice.

◆ getLinks()

const std::vector<rwsim::dynamics::Body::Ptr>& getLinks ( )

inlinevirtual

Get all links in the dynamic device.

Returns: a vector with the links.

Implements DynamicDevice.

◆ setJointVelocities()

void setJointVelocities	(	const rw::math::Q &	vel,
		rw::kinematics::State &	state
	)

inlinevirtual

Set the velocities of the joints.

Parameters

vel	[in] the joint velocities.
state	[out] the state with updated velocities.

Implements DynamicDevice.

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

SuctionCup.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ getJointVelocities()

◆ getLinks()

◆ setJointVelocities()