Package org.robwork.sdurw_graspplanning

Class ContactDistThresFilter

java.lang.Object

org.robwork.sdurw_graspplanning.GraspValidateFilter

org.robwork.sdurw_graspplanning.ContactDistThresFilter

public class ContactDistThresFilter
extends GraspValidateFilter

tests if contact points in a grasp is too close or too far from each other.

Two points that are very close is not allowed unless they are approached from opposite
directions.

Constructor Summary

Constructors

Constructor	Description
ContactDistThresFilter(double minDist, double maxDist)	constructor
ContactDistThresFilter(double minDist, double maxDist, boolean allowCloseWhenOpposite)	constructor
ContactDistThresFilter(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(ContactDistThresFilter obj)
boolean	isContactPairValid(Contact3D c1, Contact3D c2)	tests if the contact pair is valid according to this filter
boolean	isValid(Grasp3D grasp)	tests if a grasp grasp is valid in regard to the criterias of the class that implements this function.

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

ContactDistThresFilter

public ContactDistThresFilter(long cPtr,
                              boolean cMemoryOwn)

ContactDistThresFilter

public ContactDistThresFilter(double minDist,
                              double maxDist,
                              boolean allowCloseWhenOpposite)

constructor

Parameters:

minDist - [in] minimum allowed distance between contact points

maxDist - [in] maximum allowed distance between contact points

allowCloseWhenOpposite - [in] if true small distances are allowed when contact
normals are in opposite directions

ContactDistThresFilter

public ContactDistThresFilter(double minDist,
                              double maxDist)

constructor

Parameters:

minDist - [in] minimum allowed distance between contact points

maxDist - [in] maximum allowed distance between contact points

Method Detail

getCPtr

public static long getCPtr(ContactDistThresFilter obj)

delete

public void delete()

Overrides:

delete in class GraspValidateFilter

isValid

public boolean isValid(Grasp3D grasp)

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:

grasp -

Returns:

isContactPairValid

public boolean isContactPairValid(Contact3D c1,
                                  Contact3D c2)

tests if the contact pair is valid according to this filter

Parameters:

c1 - [in] 3d contact

c2 - [in] 3d contact

Returns:

true if contact pair is within filter criterias, false otherwise