ApproachMeasure3D (RobWork Java API Documentation)

java.lang.Object
- org.robwork.sdurw_graspplanning.GraspQualityMeasure3D
- - org.robwork.sdurw_graspplanning.ApproachMeasure3D

```
public class ApproachMeasure3D
extends GraspQualityMeasure3D
```
computes the quality as a function of the angle between
the approach angle and some planar surface.

Constructor Summary

Constructors
Constructor Description

ApproachMeasure3D(double maxAngle)
constructor

ApproachMeasure3D(long cPtr, boolean cMemoryOwn)

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`delete()`
`static long`	`getCPtr(ApproachMeasure3D obj)`
`double`	`quality(Grasp3D grasp)`	computes the quality of the grasp such that the quality is in the interval [0;1] with 1 being the highest quality.

Methods inherited from class org.robwork.sdurw_graspplanning.GraspQualityMeasure3D
getCPtr

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - ApproachMeasure3D
```
public ApproachMeasure3D(long cPtr,
                         boolean cMemoryOwn)
```
  - ApproachMeasure3D
```
public ApproachMeasure3D(double maxAngle)
```
    constructor
    
    Parameters:
    
    maxAngle - [in] the maximum allowed angle between approach and
    surface normal. Grasps violating this will recieve high penalty on
    quality.
- Method Detail
  - getCPtr
```
public static long getCPtr(ApproachMeasure3D obj)
```
  - delete
```
public void delete()
```
    Overrides:
    
    delete in class GraspQualityMeasure3D
  - quality
```
public double quality(Grasp3D grasp)
```
    computes the quality of the grasp such that the quality
    is in the interval [0;1] with 1 being the highest quality.
    
    Overrides:
    
    quality in class GraspQualityMeasure3D