A discrete 6D-wrench space used to describe the Grasp Wrench Space in ICR::Grasp. More...
#include <wrench_space.h>
Public Member Functions | |
| void | computeConvexHull (double const *wrenches, uint num_wrenches) |
| bool | convHullComputed () const |
| DiscreteWrenchSpace () | |
| DiscreteWrenchSpace (DiscreteWrenchSpace const &src) | |
| orgQhull::Qhull const * | getConvexHull () const |
| uint | getNumFacets () const |
| uint | getNumVertices () const |
| uint | getNumWrenches () const |
| DiscreteWrenchSpace & | operator= (DiscreteWrenchSpace const &src) |
| virtual | ~DiscreteWrenchSpace () |
Private Attributes | |
| bool | ch_computed_ |
| orgQhull::Qhull | conv_hull_ |
| uint | num_facets_ |
| uint | num_vtx_ |
| uint | num_wrenches_ |
Friends | |
| std::ostream & | operator<< (std::ostream &stream, DiscreteWrenchSpace const &d_wrench_space) |
| class | SearchZones |
Detailed Description
A discrete 6D-wrench space used to describe the Grasp Wrench Space in ICR::Grasp.
Definition at line 88 of file wrench_space.h.
Constructor & Destructor Documentation
Definition at line 142 of file wrench_space.cpp.
| ICR::DiscreteWrenchSpace::DiscreteWrenchSpace | ( | DiscreteWrenchSpace const & | src | ) |
Definition at line 147 of file wrench_space.cpp.
| ICR::DiscreteWrenchSpace::~DiscreteWrenchSpace | ( | ) | [virtual] |
Definition at line 186 of file wrench_space.cpp.
Member Function Documentation
| void ICR::DiscreteWrenchSpace::computeConvexHull | ( | double const * | wrenches, |
| uint | num_wrenches | ||
| ) |
Uses Qhull to compute the convex hull over wrenches
Definition at line 196 of file wrench_space.cpp.
| bool ICR::DiscreteWrenchSpace::convHullComputed | ( | ) | const |
Definition at line 188 of file wrench_space.cpp.
| orgQhull::Qhull const * ICR::DiscreteWrenchSpace::getConvexHull | ( | ) | const |
Definition at line 190 of file wrench_space.cpp.
| uint ICR::DiscreteWrenchSpace::getNumFacets | ( | ) | const |
Definition at line 255 of file wrench_space.cpp.
| uint ICR::DiscreteWrenchSpace::getNumVertices | ( | ) | const |
Definition at line 253 of file wrench_space.cpp.
| uint ICR::DiscreteWrenchSpace::getNumWrenches | ( | ) | const |
Definition at line 251 of file wrench_space.cpp.
| DiscreteWrenchSpace & ICR::DiscreteWrenchSpace::operator= | ( | DiscreteWrenchSpace const & | src | ) |
Definition at line 151 of file wrench_space.cpp.
Friends And Related Function Documentation
| std::ostream& operator<< | ( | std::ostream & | stream, |
| DiscreteWrenchSpace const & | d_wrench_space | ||
| ) | [friend] |
Definition at line 165 of file wrench_space.cpp.
friend class SearchZones [friend] |
Reimplemented from ICR::WrenchSpace.
Definition at line 101 of file wrench_space.h.
Member Data Documentation
bool ICR::DiscreteWrenchSpace::ch_computed_ [private] |
Definition at line 93 of file wrench_space.h.
Definition at line 94 of file wrench_space.h.
uint ICR::DiscreteWrenchSpace::num_facets_ [private] |
Definition at line 97 of file wrench_space.h.
uint ICR::DiscreteWrenchSpace::num_vtx_ [private] |
Definition at line 96 of file wrench_space.h.
uint ICR::DiscreteWrenchSpace::num_wrenches_ [private] |
Definition at line 95 of file wrench_space.h.
The documentation for this class was generated from the following files: