java.lang.Object
- org.robwork.sdurw_graspplanning.Grasp3D

```
public class Grasp3D
extends java.lang.Object
```
a grasp is a set of contacts between the object to be grasped and
the robot gripper.

Constructor Summary

Constructors
Constructor Description

Grasp3D()

Grasp3D(int nrOfContacts)

Grasp3D(long cPtr, boolean cMemoryOwn)

Grasp3D(VectorContact3D cons)

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`delete()`
`SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_t_t`	`getApproach()`
`Vector3D`	`getCenter()`
`VectorContact3D`	`getContacts()`
`static long`	`getCPtr(Grasp3D obj)`
`double`	`getPhi()`
`double`	`getPsi()`
`double`	`getQuality()`
`void`	`scale(double clerance)`
`void`	`setApproach(SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_t_t value)`
`void`	`setCenter(Vector3D value)`
`void`	`setContacts(VectorContact3D value)`
`void`	`setPhi(double value)`
`void`	`setPsi(double value)`
`void`	`setQuality(double value)`

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

Constructor Detail

Grasp3D

public Grasp3D(long cPtr,
               boolean cMemoryOwn)

Grasp3D
```
public Grasp3D(int nrOfContacts)
```

Grasp3D
```
public Grasp3D()
```

Grasp3D

public Grasp3D(VectorContact3D cons)

Method Detail

getCPtr

public static long getCPtr(Grasp3D obj)

delete
```
public void delete()
```

scale

public void scale(double clerance)

setPhi
```
public void setPhi(double value)
```

getPhi
```
public double getPhi()
```

setPsi
```
public void setPsi(double value)
```

getPsi
```
public double getPsi()
```

setQuality

public void setQuality(double value)

getQuality
```
public double getQuality()
```

setContacts

public void setContacts(VectorContact3D value)

getContacts
```
public VectorContact3D getContacts()
```

setApproach

public void setApproach(SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_t_t value)

getApproach

public SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_t_t getApproach()

setCenter

public void setCenter(Vector3D value)

getCenter
```
public Vector3D getCenter()
```

Constructor	Description
`Grasp3D()`
`Grasp3D(int nrOfContacts)`
`Grasp3D(long cPtr, boolean cMemoryOwn)`
`Grasp3D(VectorContact3D cons)`

Class Grasp3D

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

Grasp3D

Grasp3D

Grasp3D

Grasp3D

Method Detail

getCPtr

delete

scale

setPhi

getPhi

setPsi

getPsi

setQuality

getQuality

setContacts

getContacts

setApproach

getApproach

setCenter

getCenter