The epsilon quality measure. More...
#include <quality.h>
Public Member Functions | |
| double | evaluate () |
| double | evaluate3D () |
| const char * | getType () const |
| QualEpsilon (Grasp *g, QString n, const char *gwsType) | |
| QualEpsilon (qmDlgDataT *data) | |
| ~QualEpsilon () | |
Static Public Member Functions | |
| static void | buildParamArea (qmDlgDataT *qmData) |
| static const char * | getClassType () |
Private Attributes | |
| GWS * | gws |
| A pointer to the GWS that this qm should use for its calculation. | |
Static Private Attributes | |
| static const char * | type = "Epsilon" |
| The string identifying this qm type. | |
The epsilon quality measure.
The epsilon quality measure measures the size of the largest Task Wrench Space (TWS_ that can fit within the unit Grasp Wrench Space (GWS). In the case of the ball TWS, the measure because simply the euclidean distance from the wrench space origin to the closest point on the hull bouandary. This is a worst case grasp quality measure. The parameters for this quality measure are: The GWS type The TWS type
Definition at line 122 of file quality.h.
| QualEpsilon::QualEpsilon | ( | qmDlgDataT * | data | ) |
Adds the GWS specified by the combo box in the parameter area of the dialog box to the grasp associated with this qm. The grasp will take care of creating it if it doesn't already exist.
Definition at line 136 of file quality.cpp.
| QualEpsilon::QualEpsilon | ( | Grasp * | g, | |
| QString | n, | |||
| const char * | gwsType | |||
| ) |
Definition at line 142 of file quality.cpp.
| QualEpsilon::~QualEpsilon | ( | ) |
Removes the GWS used for this qm from the grasp. The grasp will delete it if necessary.
Definition at line 150 of file quality.cpp.
| void QualEpsilon::buildParamArea | ( | qmDlgDataT * | qmData | ) | [static] |
Builds an epsilon qm parameter area within the quality measure dialog box. This includes building a QT combo box for the GWS selection and one for the TWS selection. However, currently there is only one possible TWS. In the future, there may be ways to define others.
Reimplemented from QualityMeasure.
Definition at line 220 of file quality.cpp.
| double QualEpsilon::evaluate | ( | ) | [virtual] |
Returns the minimum distance from the origin to any of the hyperplanes defining the boundary of the GWS.
Implements QualityMeasure.
Definition at line 163 of file quality.cpp.
| double QualEpsilon::evaluate3D | ( | ) | [virtual] |
Implements QualityMeasure.
Definition at line 190 of file quality.cpp.
| static const char* QualEpsilon::getClassType | ( | ) | [inline, static] |
| const char* QualEpsilon::getType | ( | ) | const [inline, virtual] |
Returns the type of this quality measure expressed as a string
Implements QualityMeasure.
GWS* QualEpsilon::gws [private] |
const char * QualEpsilon::type = "Epsilon" [static, private] |
