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RobWorkProject
23.9.11-
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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... | |
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GraspValidateFilter () | |
Constructor. | |
virtual | ~GraspValidateFilter () |
destructor | |
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ContactValidateFilter () | |
Constructor. | |
virtual | ~ContactValidateFilter () |
destructor | |
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.
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inline |
Constructor
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] |
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virtual |
tests if a grasp grasp is valid in regard to the settings of this clearance filter.
grasp |
Implements GraspValidateFilter.
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virtual |
test if a contact contact is valid in regard to the criterias of the class that implements this function.
contact | [in] 3d contact |
Implements ContactValidateFilter.