Describes the result of a single grasp. More...

#include <GraspResult.hpp>

Public Types
enum	TestStatus { UnInitialized = 0 , Success , CollisionInitially , ObjectMissed , ObjectDropped , ObjectSlipped , TimeOut , SimulationFailure , InvKinFailure , PoseEstimateFailure , CollisionFiltered , CollisionObjectInitially , CollisionEnvironmentInitially , CollisionDuringExecution , Interference , WrenchInsufficient , Filtered , Skip , SizeOfStatusArray }
	the possible discrete outcomes of a single task simulation

typedef rw::core::Ptr< GraspResult >	Ptr
	Smart pointer to this type of class.

Public Member Functions
	GraspResult ()
	Constructor.

virtual	~GraspResult ()
	Destructor.

	GraspResult (const GraspResult &gresult)
	Copy constructor.

Static Public Member Functions
static std::string	toString (GraspResult::TestStatus status)
	Returns textual representation of given TestStatus.

Public Attributes
int	testStatus

double	liftresult

rw::math::Q	gripperConfigurationGrasp

rw::math::Q	gripperConfigurationLift

rw::math::Q	qualityBeforeLifting

rw::math::Q	qualityAfterLifting

rw::math::Transform3D	objectTtcpTarget

rw::math::Transform3D	objectTtcpApproach

rw::math::Transform3D	objectTtcpGrasp

rw::math::Transform3D	objectTtcpLift

std::vector< rw::math::Transform3D<> >	gripperTobjects

std::vector< rw::sensor::Contact3D >	contactsGrasp

std::vector< rw::sensor::Contact3D >	contactsLift

std::vector< rw::math::Transform3D<> >	interferenceTs

std::vector< double >	interferenceDistances

std::vector< double >	interferenceAngles

std::vector< double >	interferences

double	interference

Detailed Description

Describes the result of a single grasp.

The documentation for this class was generated from the following file:

Public Types