tests if a grasp is valid in respect to the distance of each contact point to some plane. More...

#include <PlaneClearanceFilter.hpp>

Public Member Functions
	PlaneClearanceFilter (const rw::math::Transform3D<> &planeFrame, double clearance, double minAngle)

virtual	~PlaneClearanceFilter ()
	destructor

bool	isValid (const Grasp3D &grasp)
	tests if a grasp grasp is valid in regard to the settings of this clearance filter. More...

bool	isValid (const rw::sensor::Contact3D &contact)
	test if a contact contact is valid in regard to the criterias of the class that implements this function. More...

Public Member Functions inherited from GraspValidateFilter
	GraspValidateFilter ()
	Constructor.

virtual	~GraspValidateFilter ()
	destructor

Public Member Functions inherited from ContactValidateFilter
	ContactValidateFilter ()
	Constructor.

virtual	~ContactValidateFilter ()
	destructor

Detailed Description

tests if a grasp is valid in respect to the distance of each contact point to some plane.

The plane is defined by the xy-plane in a transform that is specified relative to the frame that the object is specified relative to.

Constructor & Destructor Documentation

inline

Constructor

Parameters

planeFrame	[in] The transform of the plane relative to the frame that the grasp contact points are described relative to.
clearance	[in] The minimum distance between plane and contact point for a valid grasp
minAngle	[in] the minimum angle that is allowed in a valid grasp. [-Pi/2,Pi/2]

bool isValid ( const Grasp3D & grasp )

virtual

tests if a grasp grasp is valid in regard to the settings of this clearance filter.

Parameters

grasp

bool isValid ( const rw::sensor::Contact3D & contact )

virtual

test if a contact contact is valid in regard to the criterias of the class that implements this function.

Parameters

contact [in] 3d contact

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