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

Detailed Description

a grasp is a set of contacts between the object to be grasped and the robot gripper.

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

Public Member Functions