AnimatedHand Class Reference

#include <animated_hand.h>

Classes
struct	HandMap

Public Member Functions
	AnimatedHand ()
std::vector< Eigen::Vector3d >	get_hand_angles (const std::vector< double > &joint_angles)

Private Attributes
std::vector< HandMap >	m_hand_map
int	m_hand_frames_num = 9
std::vector< int >	m_hand_idx_iter = {3, 4, 5, 6, 7, 8, 0, 1, 2}

Detailed Description

Definition at line 9 of file animated_hand.h.

Constructor & Destructor Documentation

AnimatedHand()

AnimatedHand::AnimatedHand ( )

inline

Definition at line 13 of file animated_hand.h.

{};

Member Function Documentation

get_hand_angles()

std::vector< Eigen::Vector3d > AnimatedHand::get_hand_angles

(

const std::vector< double > &

joint_angles

)

Definition at line 4 of file animated_hand.cpp.

{
    // Initialize euler container
    std::vector<Eigen::Vector3d> euler_vec;
 
    // Zero all euler angles
    for (size_t i = 0; i < m_hand_frames_num; i++)
    {
        euler_vec.push_back(Eigen::Vector3d(0.0, 0.0, 0.0));
    }
    
    // Set euler angles
    for(size_t i = 0; i < m_hand_map.size(); i++)
    {
        // Get hand map i
        HandMap config_i = m_hand_map.at(i);
        
        // Define euler vector
        euler_vec.at(config_i.frame_id)(config_i.rot_type) = 
            config_i.rot_dir * joint_angles.at(i);
    }
 
    return euler_vec;
}

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Member Data Documentation

m_hand_frames_num

int AnimatedHand::m_hand_frames_num = 9

private

Definition at line 56 of file animated_hand.h.

m_hand_idx_iter

std::vector<int> AnimatedHand::m_hand_idx_iter = {3, 4, 5, 6, 7, 8, 0, 1, 2}

private

Definition at line 59 of file animated_hand.h.

m_hand_map

std::vector<HandMap> AnimatedHand::m_hand_map

private

Initial value:

{
        HandMap{0, 3, 2, 1},
        HandMap{0, 3, 1, 1},
        HandMap{1, 4, 1, 1},
        HandMap{2, 5, 1, 1},
        HandMap{3, 6, 2, 1},
        HandMap{3, 6, 1, 1},
        HandMap{4, 7, 1, 1},
        HandMap{5, 8, 1, 1},
        HandMap{6, 0, 0, 1},
        HandMap{6, 0, 1, 1},
        HandMap{6, 0, 2, 1},
        HandMap{7, 1, 1, 1},
        HandMap{8, 2, 1, 1},
    }

Definition at line 39 of file animated_hand.h.

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

• include/animated_hand.h
• src/animated_hand.cpp