tests if contact points in a grasp is too close or too far from each other. More...

#include <ContactDistThresFilter.hpp>

Public Member Functions
	ContactDistThresFilter (double minDist, double maxDist, bool allowCloseWhenOpposite=true)
	constructor More...

virtual	~ContactDistThresFilter ()
	destructor

bool	isValid (const Grasp3D &grasp)
	tests if a grasp grasp is valid in regard to the criterias of the class that implements this function. More...

bool	isContactPairValid (const rw::sensor::Contact3D &c1, const rw::sensor::Contact3D &c2)
	tests if the contact pair is valid according to this filter More...

Public Member Functions inherited from GraspValidateFilter
	GraspValidateFilter ()
	Constructor.

virtual	~GraspValidateFilter ()
	destructor

Detailed Description

tests if contact points in a grasp is too close or too far from each other.

Two points that are very close is not allowed unless they are approached from opposite directions.

Constructor & Destructor Documentation

ContactDistThresFilter	(	double	minDist,
		double	maxDist,
		bool	allowCloseWhenOpposite = `true`
	)

inline

constructor

Parameters

minDist	[in] minimum allowed distance between contact points
maxDist	[in] maximum allowed distance between contact points
allowCloseWhenOpposite	[in] if true small distances are allowed when contact normals are in opposite directions

tests if the contact pair is valid according to this filter

Parameters

c1	[in] 3d contact
c2	[in] 3d contact

bool isValid ( const Grasp3D & grasp )

virtual

tests if a grasp grasp is valid in regard to the criterias of the class that implements this function.

Parameters

grasp

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