From: Walter Fetter Lages Date: Sun, 9 Dec 2018 00:28:27 +0000 (-0200) Subject: Remove hand.h.orig. X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=c5350a124b9eac7682a079b3235387ed1819810b;p=ufrgs_wam.git Remove hand.h.orig. --- diff --git a/wam_node_sim/include/wam_node_sim/hand.h.orig b/wam_node_sim/include/wam_node_sim/hand.h.orig deleted file mode 100644 index b436029..0000000 --- a/wam_node_sim/include/wam_node_sim/hand.h.orig +++ /dev/null @@ -1,184 +0,0 @@ -/** - * Copyright 2009-2014 Barrett Technology - * - * This file is part of libbarrett. - * - * This version of libbarrett is free software: you can redistribute it - * and/or modify it under the terms of the GNU General Public License as - * published by the Free Software Foundation, either version 3 of the - * License, or (at your option) any later version. - * - * This version of libbarrett is distributed in the hope that it will be - * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this version of libbarrett. If not, see - * . - * - * - * Barrett Technology Inc. - * 73 Chapel Street - * Newton, MA 02458 - */ - -/* - * @file hand.h - * @date 11/09/2010 - * @author Dan Cody - * - */ - -#ifndef BARRETT_PRODUCTS_HAND_H_ -#define BARRETT_PRODUCTS_HAND_H_ - - -#include - -#include - -#include -#include -#include -#include -#include -#include - - -namespace barrett { - - -class Hand : public MultiPuckProduct { -public: - static const size_t DOF = 4; - BARRETT_UNITS_TYPEDEFS(DOF); - - - // Constants for referring to specific axes of the Hand - static const unsigned int F1 = 1 << 0; - static const unsigned int F2 = 1 << 1; - static const unsigned int F3 = 1 << 2; - static const unsigned int SPREAD = 1 << 3; - static const unsigned int GRASP = F1 | F2 | F3; - static const unsigned int WHOLE_HAND = GRASP | SPREAD; - - /** Hand Constructor */ - Hand(const std::vector& pucks); - /** Hand Destructor */ - ~Hand(); - /** initialize Method */ - void initialize() const; - /** idle Method */ - void idle() const { group.setProperty(Puck::MODE, MotorPuck::MODE_IDLE); } - /** doneMoving Method */ - bool doneMoving(unsigned int whichDigits = WHOLE_HAND, bool realtime = false) const; - /** waitUntilDoneMoving Method */ - void waitUntilDoneMoving(unsigned int whichDigits = WHOLE_HAND, double period_s = 0.1) const; - - // Basic moves - /** open Method */ - void open(unsigned int whichDigits = WHOLE_HAND, bool blocking = true) const; - /** open Method */ - void open(bool blocking) const { open(WHOLE_HAND, blocking); } - /** close Method */ - void close(unsigned int whichDigits = WHOLE_HAND, bool blocking = true) const; - /** close Method */ - void close(bool blocking) const { close(WHOLE_HAND, blocking); } - - // Preferred: low control-rate moves - /** trapezoidalMove Method */ - void trapezoidalMove(const jp_type& jp, unsigned int whichDigits = WHOLE_HAND, bool blocking = true) const; - /** trapezoidalMove Method */ - void trapezoidalMove(const jp_type& jp, bool blocking) const { trapezoidalMove(jp, WHOLE_HAND, blocking); } - /** velocityMove Method */ - void velocityMove(const jv_type& jv, unsigned int whichDigits = WHOLE_HAND) const; - - // Advanced: high control-rate moves - /** setPositionMode Method */ - void setPositionMode(unsigned int whichDigits = WHOLE_HAND) const; - /** setPositionCommand Method */ - void setPositionCommand(const jp_type& jp, unsigned int whichDigits = WHOLE_HAND) const; - /** setTorqueMode Method */ - void setTorqueMode(unsigned int whichDigits = WHOLE_HAND) const; - /** setTorqueCommand Method */ - void setTorqueCommand(const jt_type& jt, unsigned int whichDigits = WHOLE_HAND) const; - - - // Sensors - static const unsigned int S_POSITION = 1 << 0; - static const unsigned int S_FINGERTIP_TORQUE = 1 << 1; - static const unsigned int S_TACT_FULL = 1 << 2; - static const unsigned int S_ALL = S_POSITION | S_FINGERTIP_TORQUE | S_TACT_FULL; - /** update Method */ - void update(unsigned int sensors = S_ALL, bool realtime = false); - /** getInnerLinkPosition Method */ - const jp_type& getInnerLinkPosition() const { return innerJp; } - /** getOuterLinkPosition Method */ - const jp_type& getOuterLinkPosition() const { return outerJp; } - /** getPrimaryEncoderPosition Method */ - const std::vector& getPrimaryEncoderPosition() const { return primaryEncoder; } - /** getSecondaryEncoderPosition Method */ - const std::vector& getSecondaryEncoderPosition() const { return secondaryEncoder; } - /** enableBreakawayEncoders Method actives or deactivates the Secondary Encoders */ - void enableBreakawayEncoders(bool enable) { useSecondaryEncoders = enable; } // Enabled by default. - /** hasFingertipTorqueSensors Method returns status of installed fingertip torque sensors */ - bool hasFingertipTorqueSensors() const { return hasFtt; } - /** getFingertipTorque Method gets the fingertip torques in torque units */ - const std::vector& getFingertipTorque() const { return ftt; } - /** hasTactSensors Method returns whether or not Tactile Sensors are present on hand. */ - bool hasTactSensors() const { return hasTact; } - /** getTactilePucks Method creates container of pucks to get tactile sensor data from possible locations */ - const std::vector& getTactilePucks() const { return tactilePucks; } - - - static const size_t SPREAD_INDEX = 3; - -protected: - /** */ - bool digitsInclude(unsigned int whichDigits, size_t index) const { return whichDigits & (1 << index); } - /** */ - void setProperty(unsigned int whichDigits, enum Puck::Property prop, int value) const; - /** */ - void setProperty(unsigned int whichDigits, enum Puck::Property prop, const v_type& values) const; - /** */ - void blockIf(bool blocking, unsigned int whichDigits) const; - - - static const double J2_RATIO = 125.0; - static const double J2_ENCODER_RATIO = 50.0; - static const double J3_RATIO = 375.0; - static const double SPREAD_RATIO = 17.5; - - - bool hasFtt; - bool hasTact; - bool useSecondaryEncoders; - - int holds[DOF]; - v_type j2pp, j2pt; - mutable v_type pt; - - std::vector::result_type> encoderTmp; - std::vector primaryEncoder, secondaryEncoder; - jp_type innerJp, outerJp; - std::vector ftt; - std::vector tactilePucks; - -private: - static const int CMD_HI = 13; - static const int CMD_CLOSE = 18; - static const int CMD_OPEN = 20; - static const enum Puck::Property props[]; - - DISALLOW_COPY_AND_ASSIGN(Hand); - -public: - EIGEN_MAKE_ALIGNED_OPERATOR_NEW -}; - - -} - - -#endif /* BARRETT_PRODUCTS_HAND_H_ */