RobWorkProject  23.9.11-
Public Member Functions | Protected Attributes | List of all members
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< GraspQualityMeasure3DPtr
 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.

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