Class Hand

java.lang.Object
  |
  +--Object3d
        |
        +--Hand

class Hand

extends Object3d

Author:

Erhan Oztop, 2001-2002

Source code by Erhan Oztop (erhan@atr.co.jp)
Copyright August 2002 via
University of Southern California Ph.D. publication copyright

Field Summary

Segment	arm
(package private) Segment[]	armfree
(package private) int	armfreec
static int	ARMJOINT
static int	BASEJOINT
(package private) ContactList	cl
(package private) int	cmc
(package private) Segment[]	free
(package private) int	freec
static int	HANDJOINT
Segment	index
(package private) static int	IndexFinger
Segment	j1
Segment	j2
Segment	j3
Segment	j4
Segment	kol
(package private) Segment	lw_elbow
(package private) Segment	lw_indexFG
(package private) Segment	lw_indexKN
(package private) Segment	lw_middleFG
(package private) Segment	lw_pinkyFG
(package private) Segment	lw_pinkyKN
(package private) Segment	lw_ringFG
(package private) Segment	lw_shoulder
(package private) Segment	lw_thumbFG
(package private) Segment	lw_thumbKN
(package private) Segment	lw_wrist
Segment	middle
(package private) static int	MiddleFinger
(package private) Point3d	palmCenter
(package private) double	palmD
(package private) Point3d	palmNormal
(package private) Plane	palmPlane
(package private) double	palmThreshold
(package private) double	phase
Segment	pinky
(package private) static int	Pinky
Segment	ring
(package private) static int	RingFinger
Segment	thumb
(package private) static int	Thumb
(package private) static int	Wrist
static int	WRISTJOINT
Segment	wristx
Segment	wristy
Segment	wristz
(package private) Point3d	X
(package private) Point3d	Y
(package private) Point3d	Z

Fields inherited from class Object3d

activeReachThread, bab_ph_GRASP1, bab_ph_NONE, bab_ph_REACH1, bab_ph_REACH2, bab_ph_WRIST1, bab_ph_WRIST2, babble, BABBLE, babble_GRASPFAIL, babble_GRASPOK, babble_GRASPON, babble_phase, babble_REACH1FAIL, babble_REACH1OK, babble_REACH1ON, babble_REACH2FAIL, babble_REACH2OK, babble_REACH2ON, babble_ROTATEFAIL, babble_ROTATEOK, babble_ROTATEON, babble_steps, babble_succ, babble_trials, babbleGradIt, babbleOffset, babbleReach1MaxTick, babbleReach2MaxTick, babbleStatus, babbleZero, basetimestep, bestConfig, betas, bj1, bj2, bj3, bj4, blockc, callexe, chopped, clx, cly, clz, com, costThreshold, cRATE, dis, dTeta, encloseTime, end, endeff, endtime, EXECUTE, finger_trials, goodZ, graspConfig, h, hindex, hpc, hplist, infoRate, infoStr, infoStrC, initialConfig, intemp, J, JACOBIAN_th, jointpath, l1, l2, lasterr, lastOK, lasttr, location_trials, mapping, MAXBABBLE, maxclx, maxcly, maxclz, MAXFINGER, MAXREACH, MAXROTATE, merged, midteta, minCost, minTorque, mp, negReinforcement, newBabbleAttempt, newPDFgrasp, noshow, nslrun, ntick, obj, objdepth, objectCenter, objectRadius, of, offRandomness, offSave, offx, offy, ordered_pick, params, parnode, pdf_phase, PDFGRASP, PDFgraspc, PDFgraspcINI, PDFwristgrasp, phaseStr, reach_basetime, reach_deltat, reach_speed, reach1Config, reach1failc, reach2Config, Reach2Target, recognize, recordit, root, rotate_trials, rotateConfig, rotRandomness, rotSave, rtime, save, search_mode, search_phase, searchZ, seg, segc, showInfo, SILENT_SEARCH, slc, softcon, speed, sPL, sPN, start, teta1, teta2, time, udef_d, udef_dc, udef_i, udef_ic, udef_P, udef_Pc, userPoints, VISUAL_SEARCH, weightSave, workCell, wristGain, xx, yy, zeroError

Constructor Summary

Hand(java.lang.String s)

Hand(java.lang.String s, int pipesidec, double piperad)

Method Summary

void	act0(double freq, double amp)
void	act1(double freq, double amp)
(package private) void	addseg_and_child(Segment tseg, Segment seg, Plane[] PL, Point3d[] PN)
void	adjustHand()
(package private) ContactList	contact(Object3d obj) Returns the ContactList with Object obj.
private void	drawThickLine(java.awt.Graphics g, int x0, int y0, int x1, int y1)
void	drawTriangle(int midx, int midy, java.awt.Graphics g)
void	dumpAngles()
void	dumpLWTargets(int session)
void	enlargePalm(double ang)
void	extendPalm(double val)
double	Fdiff(double[][] f1, double[][] f2)
Point3d	indexAperDir()
double	indexAperture()
Point3d	indexApertureCenter()
double	info3dHand()
void	infoPalm()
void	makeBabblePose()
void	makeFist()
void	makeFlat()
void	makeNeutral()
void	makeStanding()
void	makeUpright()
double	middleAperture()
double	orientPalmWristz(Object3d thing)
private void	printLWtarget(Segment s)
private void	putJointConstraints()
void	resetFingers()
void	resetJoints()
void	scaleHand(double sc)
void	scaleHand(Segment seg, double l)
void	scaleHand(Segment seg1, Segment seg2, double l)
void	setHandFrame()
void	setupHand()
Point3d	sideAperDir()
double	sideAperture()
Point3d	thumbDir()
double	weirdval()

Methods inherited from class Object3d

adduserPoints, addWristData, adjustPrecisionGrasp, advanceRotCnt, chmod, clearTrajectory, closeObjectFrame, collisionRotate, constrainedRotate, createReachThread, disablePanels, discardMerged, doGesture, doneRotCnt, doReach, drawSkel, drawSkel, drawSolid, drawSolid, drawWire, drawWire, enablePanels, endInvKinMap, estimateSize, finalizeReach, findJointAngles, findSegment, fireBabbleLearn, fireExecution, firePDFgrasp, firePDFwristgrasp, fireSilentSearch, fireVisualSearch, get_segIndex, getActionSelection, getAngleList, getJoint, getSegmentIndex, getuserPoints, gradientDescent_arm, gradientDescent_wrist, gradientDescent, hitConstraint, inside, installCfg, jacobianTranspose, kill_ifActive, lineIntersection, makeInvKinMap, mergeObject, moveto, moveto, new_segmentCollision, newBabbleAttempt_init, nextCell, paintAllSurfaces, pdf_chmod, PDFcondKill, pickNoisyRotation, pickRotation, pow, project, project, reachActive, rect_moveto, rect_moveto, reinforceGrasp, resetRotCnt, resetRotCnt, restoreAngles, restoreChildren, restoreChildren, segmentCollision, segmentIntersection, set2doffset, setCell, setJointAngle, setJointConstraint, setPlaneProperties, setupObject, showObjectFrame, sideOF, sortPlanes, startReach, storeAngles, tickBabble, tickGesture, tickPDFgrasp, tickReachGesture, tickSilent, tickVisual, tickWrist, toggleActionSelection, toggleObjectFrame, trimTrajectory, truncateChildren, updateObjectDepth, weighted_restoreAngles

Methods inherited from class java.lang.Object

, clone, equals, finalize, getClass, hashCode, notify, notifyAll, registerNatives, toString, wait, wait, wait

Field Detail

X

Point3d X

Y

Point3d Y

Z

Point3d Z

palmNormal

Point3d palmNormal

palmCenter

Point3d palmCenter

palmD

double palmD

palmPlane

Plane palmPlane

free

Segment[] free

freec

int freec

armfree

Segment[] armfree

armfreec

int armfreec

Thumb

static final int Thumb

IndexFinger

static final int IndexFinger

MiddleFinger

static final int MiddleFinger

RingFinger

static final int RingFinger

Pinky

static final int Pinky

Wrist

static final int Wrist

ARMJOINT

public static final int ARMJOINT

WRISTJOINT

public static final int WRISTJOINT

HANDJOINT

public static final int HANDJOINT

BASEJOINT

public static final int BASEJOINT

palmThreshold

double palmThreshold

j1

public Segment j1

j2

public Segment j2

j3

public Segment j3

j4

public Segment j4

arm

public Segment arm

wristx

public Segment wristx

wristy

public Segment wristy

wristz

public Segment wristz

pinky

public Segment pinky

ring

public Segment ring

middle

public Segment middle

index

public Segment index

thumb

public Segment thumb

kol

public Segment kol

cmc

int cmc

lw_shoulder

Segment lw_shoulder

lw_elbow

Segment lw_elbow

lw_wrist

Segment lw_wrist

lw_indexKN

Segment lw_indexKN

lw_pinkyKN

Segment lw_pinkyKN

lw_thumbKN

Segment lw_thumbKN

lw_indexFG

Segment lw_indexFG

lw_middleFG

Segment lw_middleFG

lw_ringFG

Segment lw_ringFG

lw_pinkyFG

Segment lw_pinkyFG

lw_thumbFG

Segment lw_thumbFG

cl

ContactList cl

phase

double phase

Constructor Detail

Hand

public Hand(java.lang.String s)

Hand

public Hand(java.lang.String s,
            int pipesidec,
            double piperad)

Method Detail

adjustHand

public void adjustHand()

setHandFrame

public void setHandFrame()

orientPalmWristz

public double orientPalmWristz(Object3d thing)

printLWtarget

private void printLWtarget(Segment s)

dumpLWTargets

public void dumpLWTargets(int session)

setupHand

public void setupHand()

addseg_and_child

void addseg_and_child(Segment tseg,
                      Segment seg,
                      Plane[] PL,
                      Point3d[] PN)

contact

ContactList contact(Object3d obj)

Returns the ContactList with Object obj.

scaleHand

public void scaleHand(double sc)

dumpAngles

public void dumpAngles()

info3dHand

public double info3dHand()

thumbDir

public Point3d thumbDir()

indexAperDir

public Point3d indexAperDir()

indexAperture

public double indexAperture()

indexApertureCenter

public Point3d indexApertureCenter()

sideAperture

public double sideAperture()

sideAperDir

public Point3d sideAperDir()

middleAperture

public double middleAperture()

infoPalm

public void infoPalm()

scaleHand

public void scaleHand(Segment seg,
                      double l)

scaleHand

public void scaleHand(Segment seg1,
                      Segment seg2,
                      double l)

enlargePalm

public void enlargePalm(double ang)

extendPalm

public void extendPalm(double val)

Fdiff

public double Fdiff(double[][] f1,
                    double[][] f2)

putJointConstraints

private void putJointConstraints()

makeFlat

public void makeFlat()

makeBabblePose

public void makeBabblePose()

makeFist

public void makeFist()

makeNeutral

public void makeNeutral()

makeUpright

public void makeUpright()

makeStanding

public void makeStanding()

resetJoints

public void resetJoints()

resetFingers

public void resetFingers()

act1

public void act1(double freq,
                 double amp)

act0

public void act0(double freq,
                 double amp)

weirdval

public double weirdval()

drawThickLine

private void drawThickLine(java.awt.Graphics g,
                           int x0,
                           int y0,
                           int x1,
                           int y1)

drawTriangle

public void drawTriangle(int midx,
                         int midy,
                         java.awt.Graphics g)