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RobWorkProject
23.9.11-
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a grasp is a set of contacts between the object to be grasped and the robot gripper. More...
#include <Grasp3D.hpp>
Public Member Functions | |
Grasp3D (int nrOfContacts=1) | |
Grasp3D (const std::vector< rw::sensor::Contact3D > cons) | |
void | scale (double clerance) |
Public Attributes | |
double | phi |
double | psi |
double | quality |
std::vector< rw::sensor::Contact3D > | contacts |
std::vector< rw::math::Vector3D<> > | approach |
rw::math::Vector3D | center |
a grasp is a set of contacts between the object to be grasped and the robot gripper.