RobWorkProject  23.9.11-
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CMDistCCPMeasure3D Class Reference

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

- Public Types inherited from GraspQualityMeasure3D
typedef rw::core::Ptr< GraspQualityMeasure3DPtr
 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

◆ CMDistCCPMeasure3D()

CMDistCCPMeasure3D ( const rw::math::Vector3D<> &  CM,
double  maxDist 
)
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: