Package org.robwork.sdurw_graspplanning

Class GraspTable.GraspData

java.lang.Object

org.robwork.sdurw_graspplanning.GraspTable.GraspData

Enclosing class:

GraspTable

public static class GraspTable.GraspData
extends java.lang.Object

data for describing a single grasp

Constructor Summary

Constructors

Constructor	Description
GraspData()	constructor
GraspData(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
SWIGTYPE_p_std__vectorT_Eigen__MatrixXf_t	get_tactiledata()	tactile array data
Vector3D	getApproach()	approach relative to object
static long	getCPtr(GraspTable.GraspData obj)
Q	getCq()	contact configuration
Grasp3D	getGrasp()	grasp information
Pose6D	getHp()	hand pose
Pose6D	getOp()	object pose
Q	getPq()	preshape configuration
Q	getQuality()	quality or value list
SWIGTYPE_p_std__vectorT_std__vectorT_rw__sensor__Contact3D_t_t	getTactileContacts()	tactile contacts
void	set_tactiledata(SWIGTYPE_p_std__vectorT_Eigen__MatrixXf_t value)	tactile array data
void	setApproach(Vector3D value)	approach relative to object
void	setCq(Q value)	contact configuration
void	setGrasp(Grasp3D value)	grasp information
void	setHp(Pose6D value)	hand pose
void	setOp(Pose6D value)	object pose
void	setPq(Q value)	preshape configuration
void	setQuality(Q value)	quality or value list
void	setTactileContacts(SWIGTYPE_p_std__vectorT_std__vectorT_rw__sensor__Contact3D_t_t value)	tactile contacts

Methods inherited from class java.lang.Object

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

Constructor Detail

GraspData

public GraspData(long cPtr,
                 boolean cMemoryOwn)

GraspData

public GraspData()

constructor

Method Detail

getCPtr

public static long getCPtr(GraspTable.GraspData obj)

delete

public void delete()

setApproach

public void setApproach(Vector3D value)

approach relative to object

getApproach

public Vector3D getApproach()

approach relative to object

setCq

public void setCq(Q value)

contact configuration

getCq

public Q getCq()

contact configuration

setPq

public void setPq(Q value)

preshape configuration

getPq

public Q getPq()

preshape configuration

setHp

public void setHp(Pose6D value)

hand pose

getHp

public Pose6D getHp()

hand pose

setOp

public void setOp(Pose6D value)

object pose

getOp

public Pose6D getOp()

object pose

setGrasp

public void setGrasp(Grasp3D value)

grasp information

getGrasp

public Grasp3D getGrasp()

grasp information

setQuality

public void setQuality(Q value)

quality or value list

getQuality

public Q getQuality()

quality or value list

set_tactiledata

public void set_tactiledata(SWIGTYPE_p_std__vectorT_Eigen__MatrixXf_t value)

tactile array data

get_tactiledata

public SWIGTYPE_p_std__vectorT_Eigen__MatrixXf_t get_tactiledata()

tactile array data

setTactileContacts

public void setTactileContacts(SWIGTYPE_p_std__vectorT_std__vectorT_rw__sensor__Contact3D_t_t value)

tactile contacts

getTactileContacts

public SWIGTYPE_p_std__vectorT_std__vectorT_rw__sensor__Contact3D_t_t getTactileContacts()

tactile contacts