Package org.robwork.sdurw_graspplanning

Class CompositeGraspFilter

java.lang.Object

org.robwork.sdurw_graspplanning.GraspValidateFilter

org.robwork.sdurw_graspplanning.CompositeGraspFilter

public class CompositeGraspFilter
extends GraspValidateFilter

makes it possible to combine several contact filters into one contact filter.
Statistics are maintained of the validation succes which can be queried and analyzed.

Constructor Summary

Constructors

Constructor	Description
CompositeGraspFilter()	Constructor
CompositeGraspFilter(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	addFilter(GraspValidateFilter filter)	add a composition to this filter
void	clearStats()	clear the statistics
void	delete()
static long	getCPtr(CompositeGraspFilter obj)
SWIGTYPE_p_std__vectorT_rw__graspplanning__GraspValidateFilter_p_t	getFilters()	get all filters of this filter
vector_i	getStats()	get statistics the number of contacts that was invalid by the filter indicated by the index
boolean	isValid(Grasp3D contact)	tests if a grasp grasp is valid in regard to the criterias of the class that implements this function.
void	setFilters(SWIGTYPE_p_std__vectorT_rw__graspplanning__GraspValidateFilter_p_t filters)	set the list of grasp validate filters

Methods inherited from class org.robwork.sdurw_graspplanning.GraspValidateFilter

getCPtr

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

CompositeGraspFilter

public CompositeGraspFilter(long cPtr,
                            boolean cMemoryOwn)

CompositeGraspFilter

public CompositeGraspFilter()

Constructor

Method Detail

getCPtr

public static long getCPtr(CompositeGraspFilter obj)

delete

public void delete()

Overrides:

delete in class GraspValidateFilter

isValid

public boolean isValid(Grasp3D contact)

Description copied from class: GraspValidateFilter

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

Overrides:

isValid in class GraspValidateFilter

Parameters:

contact -

Returns:

addFilter

public void addFilter(GraspValidateFilter filter)

add a composition to this filter

Parameters:

filter -

getFilters

public SWIGTYPE_p_std__vectorT_rw__graspplanning__GraspValidateFilter_p_t getFilters()

get all filters of this filter

Returns:

list of GraspValidateFilter

setFilters

public void setFilters(SWIGTYPE_p_std__vectorT_rw__graspplanning__GraspValidateFilter_p_t filters)

set the list of grasp validate filters

Parameters:

filters -

clearStats

public void clearStats()

clear the statistics

getStats

public vector_i getStats()

get statistics

the number of contacts that was invalid by the filter indicated by the index