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RobWorkProject
23.9.11-
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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... | |
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GraspValidateFilter () | |
Constructor. | |
virtual | ~GraspValidateFilter () |
destructor | |
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.
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inline |
constructor
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 |
bool isContactPairValid | ( | const rw::sensor::Contact3D & | c1, |
const rw::sensor::Contact3D & | c2 | ||
) |
tests if the contact pair is valid according to this filter
c1 | [in] 3d contact |
c2 | [in] 3d contact |
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virtual |
tests if a grasp grasp is valid in regard to the criterias of the class that implements this function.
grasp |
Implements GraspValidateFilter.