Package org.robwork.sdurw_graspplanning

Class GraspTable

java.lang.Object

org.robwork.sdurw_graspplanning.GraspTable

public class GraspTable
extends java.lang.Object

A table of grasp configurations that has been generated using a robot hand,
a number of preshapes, and some grasp policy.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	GraspTable.GraspData	data for describing a single grasp

Field Summary

Fields

Modifier and Type	Field	Description
static long	GTABLE_VERSION	this version increase each time the file format is changed

Constructor Summary

Constructors

Constructor	Description
GraspTable(long cPtr, boolean cMemoryOwn)
GraspTable(java.lang.String handName, java.lang.String objectId)	constructor

Method Summary

Modifier and Type	Method	Description
void	addGrasp(GraspTable.GraspData data)	add a grasp to this GraspTable
void	delete()
int	getCalibForceIndex()	gets the index of the calibration force if its used.
static long	getCPtr(GraspTable obj)
SWIGTYPE_p_std__vectorT_rw__graspplanning__GraspTable__GraspData_t	getData()	get all grasp data
java.lang.String	getHandName()	get name of hand
java.lang.String	getObjectName()	get name of object
Pair_i_i	getTactileArrayDim(int i)	get the dimensions of the i'th tactile array
boolean	hasCalibForce()	check if this table has calib force data
static SWIGTYPE_p_rw__core__PtrT_rw__graspplanning__GraspTable_t	load(java.lang.String filename)	load a grasp table from file
int	nrTactileArrayGrasp()	get the number of tactile arrays on this hand
void	save(java.lang.String filename)	save this grasp table to file filename
void	setCalibForceIndex(int idx)	set the index of the calibration force
long	size()	get the nr of grasps in this GraspTable

Methods inherited from class java.lang.Object

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

Field Detail

GTABLE_VERSION

public static final long GTABLE_VERSION

this version increase each time the file format is changed

Constructor Detail

GraspTable

public GraspTable(long cPtr,
                  boolean cMemoryOwn)

GraspTable

public GraspTable(java.lang.String handName,
                  java.lang.String objectId)

constructor

Parameters:

handName - [in] name of robot hand

objectId - [in] name of object that is being grasped

Method Detail

getCPtr

public static long getCPtr(GraspTable obj)

delete

public void delete()

getCalibForceIndex

public int getCalibForceIndex()

gets the index of the calibration force if its used. The calibration force is
stored in the 'quality' list in the GraspData objects.

Returns:

index of calibration force if used, -1 otherwise

setCalibForceIndex

public void setCalibForceIndex(int idx)

set the index of the calibration force

Parameters:

idx - [in] calibration force index

addGrasp

public void addGrasp(GraspTable.GraspData data)

add a grasp to this GraspTable

Parameters:

data - [in] Grasp data

size

public long size()

get the nr of grasps in this GraspTable

Returns:

nr of grasps in this GraspTable

getData

public SWIGTYPE_p_std__vectorT_rw__graspplanning__GraspTable__GraspData_t getData()

get all grasp data

Returns:

vector of grasps

getHandName

public java.lang.String getHandName()

get name of hand

Returns:

name of hand

getObjectName

public java.lang.String getObjectName()

get name of object

Returns:

name of object

nrTactileArrayGrasp

public int nrTactileArrayGrasp()

get the number of tactile arrays on this hand

Returns:

getTactileArrayDim

public Pair_i_i getTactileArrayDim(int i)

get the dimensions of the i'th tactile array

Parameters:

i - [in] the tactile array id

Returns:

hasCalibForce

public boolean hasCalibForce()

check if this table has calib force data

Returns:

true if this table has calib force data (equal to getCalibForceIndex()>=0), false
otherwise

load

public static SWIGTYPE_p_rw__core__PtrT_rw__graspplanning__GraspTable_t load(java.lang.String filename)

load a grasp table from file

Parameters:

filename - [in] name of file

Returns:

GraspTable

save

public void save(java.lang.String filename)

save this grasp table to file filename

Parameters:

filename - [in] name of file