bhandlib: BHandForceKinGL Class Reference

This class combines the options of the BHandForce with the ones given by BHKinematic. With this class you are abled to move the joints by using joint angles and not MotorCounts as unit for the commands.

Member Function Documentation

void BHandForceKinGL::adjustForce	(	const Motors	motors,
		const int	force
	)			throw (BHandException)

Moves the finger(s) that the force is obtained.

The direction of the movement depends on the dircetion of the force. Negative force will close the hand and positive will open it.
So, if you want to hold an object with a specific force, you have to define the force negative.

WARNING The move functions (re)start the realtime mode by themself for the motors of the movement. If rt-mode is enabled it will not be disabled, because it costs to much time. So if you start rt-mode for F1 and want ot adjust the force for F2 you will have call stop() before calling adjustForce() !

Parameters:

	motors	Motors to be Moved. If spread is included it will be ignored.
	force	Force which should be applied to finger tips.

In This version the Force in the OpenGL modell is updatet

Reimplemented from BHandForce.

void BHandForceKinGL::updatePos ( ) [protected]

updates Joint Value of Modell to current of hand.

Sets the Values of the GLHand to the ones derived from the BarrettHand itself.


Public Member Functions
void	adjustForce (const Motors motors, const int force) throw (BHandException)
Protected Member Functions
void	updatePos ()
	updates Joint Value of Modell to current of hand.

BHandForceKinGL Class Reference

Public Member Functions

Protected Member Functions

Detailed Description

Member Function Documentation