PlaneClearanceFilter (RobWork Java API Documentation)

java.lang.Object
- org.robwork.sdurw_graspplanning.GraspValidateFilter
- - org.robwork.sdurw_graspplanning.PlaneClearanceFilter

```
public class PlaneClearanceFilter
extends GraspValidateFilter
```
tests if a grasp is valid in respect to the distance of each
contact point to some plane.

The plane is defined by the xy-plane in
a transform that is specified relative to the frame that the object
is specified relative to.

Constructor Summary

Constructors
Constructor	Description
`PlaneClearanceFilter(long cPtr, boolean cMemoryOwn)`
`PlaneClearanceFilter(Transform3D planeFrame, double clearance, double minAngle)`	Constructor

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`delete()`
`static long`	`getCPtr(PlaneClearanceFilter obj)`
`boolean`	`isValid(Grasp3D grasp)`	tests if a grasp grasp is valid in regard to the settings of this clearance filter.
`boolean`	`isValid(Contact3D contact)`

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
  - PlaneClearanceFilter
```
public PlaneClearanceFilter(long cPtr,
                            boolean cMemoryOwn)
```
  - PlaneClearanceFilter
```
public PlaneClearanceFilter(Transform3D planeFrame,
                            double clearance,
                            double minAngle)
```
    Constructor
    
    Parameters:
    
    planeFrame - [in] The transform of the plane relative to the frame
    that the grasp contact points are described relative to.
    
    clearance - [in] The minimum distance between plane and
    contact point for a valid grasp
    
    minAngle - [in] the minimum angle that is allowed in
    a valid grasp. [-Pi/2,Pi/2]
- Method Detail
  - getCPtr
```
public static long getCPtr(PlaneClearanceFilter obj)
```
  - delete
```
public void delete()
```
    Overrides:
    
    delete in class GraspValidateFilter
  - isValid
```
public boolean isValid(Grasp3D grasp)
```
    tests if a grasp grasp is valid in regard to the settings
    of this clearance filter.
    
    Overrides:
    
    isValid in class GraspValidateFilter
    
    Parameters:
    
    grasp -
    
    Returns:
  - isValid
```
public boolean isValid(Contact3D contact)
```