SemiForceClosureFilter (RobWork Java API Documentation)

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

```
public class SemiForceClosureFilter
extends GraspValidateFilter
```
A conservative estimate of the force closure properties of the grasp are
used to indicate weather a grasp is valid or not.

The method is described in "Grasping the Dice by Dicing the Grasp"

Constructor Summary

Constructors
Constructor Description

SemiForceClosureFilter(long nrContacts)

SemiForceClosureFilter(long cPtr, boolean cMemoryOwn)

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`delete()`
`static long`	`getCPtr(SemiForceClosureFilter obj)`
`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
  - SemiForceClosureFilter
```
public SemiForceClosureFilter(long cPtr,
                              boolean cMemoryOwn)
```
  - SemiForceClosureFilter
```
public SemiForceClosureFilter(long nrContacts)
```
- Method Detail
  - getCPtr
```
public static long getCPtr(SemiForceClosureFilter 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: