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orca::HandConfig Class Reference [Hand] Laser configuration data structure. More... Inherits orca::OrcaObject. Inheritance diagram for orca::HandConfig: [legend]List of all members. Public Attributes int  numFingers   Number of fingers in the hand. bool  hasAbduction bool  hasMCPJointAngles bool  hasMCPJointTorque   Can sense joint torques at the MCP joint. bool  hasPIPJointAngles bool  hasDIPJointAngles   DIP = distal interphalangeal joints. bool  hasTipForce Detailed Description Laser configuration data structure. Member Data Documentation bool orca::HandConfig::hasAbduction   This hand can sense or control abduction. Abduction measures interfinger angle -- think of the Vulcan "live long and prosper" thing. bool orca::HandConfig::hasMCPJointAngles   This hand has or can sense joint angles at the first joint, commonly called the MCP (metacarpophalangeal) joint. bool orca::HandConfig::hasPIPJointAngles   Measures/senses the second joint. PIP = Proximal Interphalangeal joint bool orca::HandConfig::hasTipForce   Has some indicator of whther the tips of the fingers are in contact with something. The documentation for this class was generated from the following file: hand.ice

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