Package org.robwork.sdurw_graspplanning

Class Contour2DInfoMap

java.lang.Object

org.robwork.sdurw_graspplanning.Contour2DInfoMap

public class Contour2DInfoMap
extends java.lang.Object

class for analysing 2d contours.

Constructor Summary

Constructors

Constructor	Description
Contour2DInfoMap()	constructor
Contour2DInfoMap(int resolution)	constructor
Contour2DInfoMap(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
double	getAvgCurvature()	get average curvature of contour
SWIGTYPE_p_std__vectorT_rw__sensor__Contact2D_p_t	getCNormals(double nAngle, double margin, double thres)	get all contacts that has a normal with an angle nAngle +-thres relative to the direction vector (1,0).
Contour2D	getContour()	get the 2d contour
static long	getCPtr(Contour2DInfoMap obj)
double	getMaxCurvature()	get max curvature of contour
double	getMinCurvature()	get min curvature of contour
void	printToFile(java.lang.String file)	writes this contour information to file
void	reset(Contour2D contor)	initialize the contour2d map with a contour

Methods inherited from class java.lang.Object

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

Constructor Detail

Contour2DInfoMap

public Contour2DInfoMap(long cPtr,
                        boolean cMemoryOwn)

Contour2DInfoMap

public Contour2DInfoMap(int resolution)

constructor

Parameters:

resolution - [in] the resolution of the dicretisation of the
polar coordinates.

Contour2DInfoMap

public Contour2DInfoMap()

constructor

Method Detail

getCPtr

public static long getCPtr(Contour2DInfoMap obj)

delete

public void delete()

getCNormals

public SWIGTYPE_p_std__vectorT_rw__sensor__Contact2D_p_t getCNormals(double nAngle,
                                                                     double margin,
                                                                     double thres)

get all contacts that has a normal with an angle nAngle +-thres
relative to the direction vector (1,0).

reset

public void reset(Contour2D contor)

initialize the contour2d map with a contour

printToFile

public void printToFile(java.lang.String file)

writes this contour information to file

Parameters:

file - [in] name of file

getMinCurvature

public double getMinCurvature()

get min curvature of contour

Returns:

min curvature

getMaxCurvature

public double getMaxCurvature()

get max curvature of contour

Returns:

max curvature

getAvgCurvature

public double getAvgCurvature()

get average curvature of contour

Returns:

average curvature

getContour

public Contour2D getContour()

get the 2d contour

Returns:

2d contour