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RobWorkProject
23.9.11-
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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>
Inherits GraspQualityMeasure3D.
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 | |
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typedef rw::core::Ptr< GraspQualityMeasure3D > | Ptr |
smart pointer type of this class | |
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
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inline |
constructor
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. |