computes the quality as a function of the distance between the center of mass (COM) and the Center of the Contact Polygon (CCP) More...

#include <CMDistCCPMeasure3D.hpp>

Public Member Functions
	CMDistCCPMeasure3D (const rw::math::Vector3D<> &CM, double maxDist)
	constructor More...

virtual	~CMDistCCPMeasure3D ()
	destructor

virtual double	quality (const Grasp3D &grasp) const
	computes the quality of the grasp such that the quality is in the interval [0;1] with 1 being the highest quality.

Additional Inherited Members
Public Types inherited from GraspQualityMeasure3D
typedef rw::core::Ptr< GraspQualityMeasure3D >	Ptr
	smart pointer type of this class

Detailed Description

computes the quality as a function of the distance between the center of mass (COM) and the Center of the Contact Polygon (CCP)

See ROA 3.2.3

Constructor & Destructor Documentation

inline

constructor

Parameters

CM	[in] The center of mass of the object described in the grasp frame.
maxDist	[in] The max dist between CM and CCP that is allowed.

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