From 7a3bfeec126f02fd8b16df4d4c46d2de257e57e9 Mon Sep 17 00:00:00 2001
From: Stefan Reither <stef.reither@web.de>
Date: Tue, 5 Sep 2017 15:29:08 +0200
Subject: [PATCH] add empty method setShapeWithObjectInstance() to handUnit and
ice-interface
---
source/RobotAPI/components/units/HandUnit.cpp | 4 ++++
source/RobotAPI/components/units/HandUnit.h | 10 ++++++++++
source/RobotAPI/interface/units/HandUnitInterface.ice | 2 +-
3 files changed, 15 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/components/units/HandUnit.cpp b/source/RobotAPI/components/units/HandUnit.cpp
index 6f4fbe5d4..12eeed5de 100644
--- a/source/RobotAPI/components/units/HandUnit.cpp
+++ b/source/RobotAPI/components/units/HandUnit.cpp
@@ -141,6 +141,10 @@ void HandUnit::setShape(const std::string& shapeName, const Ice::Current& c)
{
}
+void HandUnit::setShapeWithObjectInstance(const std::string& shapeName, const std::string& objectInstanceName, const Ice::Current& c)
+{
+}
+
SingleTypeVariantListBasePtr HandUnit::getShapeNames(const Ice::Current& c)
{
diff --git a/source/RobotAPI/components/units/HandUnit.h b/source/RobotAPI/components/units/HandUnit.h
index f9e1be598..4b7ec730b 100644
--- a/source/RobotAPI/components/units/HandUnit.h
+++ b/source/RobotAPI/components/units/HandUnit.h
@@ -121,6 +121,16 @@ namespace armarx
*/
void setShape(const std::string& shapeName, const Ice::Current& c = ::Ice::Current());
+ /**
+ * @brief setShapeWithObjectInstance Send command to the hand to form a specific shape position.
+ * While trying to form the specified shape, collison checking with the named object instance is performed.
+ * The resulting joint angles of the hand might differ from the predefined joint angles for the given shape.
+ *
+ * @param shapeName Name of the well known shape that the hand should form
+ * @param graspedObjectInstanceName name of the object instance which is used to check for collisions while setting the shape
+ */
+ void setShapeWithObjectInstance(const std::string& shapeName, const std::string& objectInstanceName, const Ice::Current& c = ::Ice::Current());
+
/**
* \return a list of strings for shape positions which can be used together with HandUnit::shape().
*/
diff --git a/source/RobotAPI/interface/units/HandUnitInterface.ice b/source/RobotAPI/interface/units/HandUnitInterface.ice
index 2a38125ad..7fffaddfa 100644
--- a/source/RobotAPI/interface/units/HandUnitInterface.ice
+++ b/source/RobotAPI/interface/units/HandUnitInterface.ice
@@ -48,6 +48,7 @@ module armarx
* @param shapeName Name of the hand shape.
*/
void setShape(string shapeName);
+ void setShapeWithObjectInstance(string shapeName, string objectInstanceName);
/**
* getShapeNames returns a list of names of hand shapes known to the hand unit.
* @return List of known hand shape names.
@@ -57,7 +58,6 @@ module armarx
NameValueMap getCurrentJointValues();
string getHandName();
-
/**
* setObjectGrasped informs the hand unit that an object has been successfully grasped.
* @param objectName Name of the object
--
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