GWSMeasure3D Class Reference

Represents the grasp wrench space as a 3D force space and a 3D torque space. More...

#include <GWSMeasure3D.hpp>

Inherits GraspQualityMeasure3D.

Public Member Functions
	GWSMeasure3D (int resolution=8, bool useUnitVectors=false)
	constructor More...
virtual	~GWSMeasure3D ()
	destructor
virtual double	quality (const rw::graspplanning::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. More...
void	setObjectCenter (const rw::math::Vector3D<> &center)
	set the center of the object More...
bool	isGraspStable ()
	tests if center of object is inside wrench space More...
double	getMinWrench ()
	get the minimum force that will break the grasp More...
double	getAvgWrench ()
	get the force that will break the grasp More...
double	getAverageOriginWrench ()
	get average wrench in relation to the origin More...
double	getAverageCenterWrench ()
	get average wrench in relation to center of the convex hull More...
void	setLambda (double lambda)
	Set scaling of the torque. More...

Protected Attributes
rw::core::Ptr< rw::geometry::QHullND< 6 > >	_chullCalculator
rw::math::Vector3D	_objCenter
int	_resolution
bool	_isInside
double	_minWrench
double	_avgWrench
double	_avgCenterWrench
double	_avgOriginWrench
bool	_useUnitVectors
double	_lambda

Additional Inherited Members
Public Types inherited from GraspQualityMeasure3D
typedef rw::core::Ptr< GraspQualityMeasure3D >	Ptr
	smart pointer type of this class

Detailed Description

Represents the grasp wrench space as a 3D force space and a 3D torque space.

Constructor & Destructor Documentation

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

Member Function Documentation

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()

double getAvgWrench ( )

inline

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()

double getMinWrench ( )

inline

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()

bool isGraspStable ( )

inline

tests if center of object is inside wrench space

Returns

true if center is inside both force and torque space

quality()

virtual double quality ( const rw::graspplanning::Grasp3D &  grasp ) const

virtual

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()

void setObjectCenter ( const rw::math::Vector3D<> &  center )

inline

set the center of the object

Parameters

center

[in] center of object.

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

• GWSMeasure3D.hpp