BHandJoints Struct Reference

Structure containing all parameters of the jonts of the BarrettHand. More...

#include <bhkinematic.h>

Collaboration diagram for BHandJoints:

[legend]

Data Fields
FingerJoints	F [NUM_FINGERS]
FingerJoints	Spread
bool	TorqueSwitch [NUM_FINGERS]
double	TSActivationPoint [NUM_FINGERS]

---

Detailed Description

Structure containing all parameters of the jonts of the BarrettHand.

It contains the joint values of each finger and a flag for TorqueSwicth activation.

---

Field Documentation

FingerJoints BHandJoints::F[NUM_FINGERS]

Array for joint values of each finger

FingerJoints BHandJoints::Spread

Joint values of Spread joints (0 - neg, 1 - pos)

bool BHandJoints::TorqueSwitch[NUM_FINGERS]

TorqueSwitch State of each finger

double BHandJoints::TSActivationPoint[NUM_FINGERS]

Point of TorqueSwicth activation in DEG

---

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

• bhkinematic.h

---

Tim Baier bhandlib v0.25

Generated Wed Aug 16 14:59:23 2006 by 1.4.7