RobWorkProject  23.9.11-
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ContactDistThresFilter Class Reference

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

#include <ContactDistThresFilter.hpp>

Inherits GraspValidateFilter.

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()

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

Member Function Documentation

◆ isContactPairValid()

bool isContactPairValid ( const rw::sensor::Contact3D c1,
const rw::sensor::Contact3D c2 
)

tests if the contact pair is valid according to this filter

Parameters
c1[in] 3d contact
c2[in] 3d contact
Returns
true if contact pair is within filter criterias, false otherwise

◆ isValid()

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
Returns

Implements GraspValidateFilter.


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