Represents the grasp wrench space as a 3D force space and a 3D torque space.
More...
#include <GWSMeasure3D.hpp>
Inherits GraspQualityMeasure3D.
Represents the grasp wrench space as a 3D force space and a 3D torque space.
◆ GWSMeasure3D()
GWSMeasure3D |
( |
int |
resolution = 8 , |
|
|
bool |
useUnitVectors = false |
|
) |
| |
constructor
- Parameters
-
resolution | [in] the number of vertices to use in the approximation of the friction cone. |
useUnitVectors | [in] true if the unit wrench should be used, false otherwise |
◆ getAverageCenterWrench()
double getAverageCenterWrench |
( |
| ) |
|
|
inline |
get average wrench in relation to center of the convex hull
- Returns
- average wrench in relation to center of convex hull.
◆ getAverageOriginWrench()
double getAverageOriginWrench |
( |
| ) |
|
|
inline |
get average wrench in relation to the origin
- Returns
- average wrench in relation to the origin.
◆ getAvgWrench()
get the force that will break the grasp
Returns the minimum force neccesary to break the grasp for the best case scenario - if the center of the object coincides with the center of the wrench space.
- Returns
- minimum breaking force
◆ getMinWrench()
get the minimum force that will break the grasp
Returns the minimum distance from the center of the object to the wall of the wrench space.
- Returns
- minimum breaking force
◆ isGraspStable()
tests if center of object is inside wrench space
- Returns
- true if center is inside both force and torque space
◆ quality()
computes the quality of the grasp such that the quality is in the interval [0;1] with 1 being the highest quality.
inherited from quality measure
Implements GraspQualityMeasure3D.
◆ setLambda()
void setLambda |
( |
double |
lambda | ) |
|
|
inline |
Set scaling of the torque.
- Parameters
-
lambda | [in] new scaling coefficient. |
◆ setObjectCenter()
set the center of the object
- Parameters
-
center | [in] center of object. |
The documentation for this class was generated from the following file: