RobWorkProject  23.9.11-
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PlaneClearanceFilter Class Reference

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

#include <PlaneClearanceFilter.hpp>

Inherits GraspValidateFilter, and ContactValidateFilter.

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

◆ PlaneClearanceFilter()

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

Member Function Documentation

◆ isValid() [1/2]

bool isValid ( const Grasp3D grasp)
virtual

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

Parameters
grasp
Returns

Implements GraspValidateFilter.

◆ isValid() [2/2]

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
Returns
true if valid, false otherwise

Implements ContactValidateFilter.


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