antipodal.h
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00001 #ifndef ANTIPODAL_H_
00002 #define ANTIPODAL_H_
00003 
00004 #include <Eigen/Dense>
00005 #include <iostream>
00006 
00007 class Antipodal
00008 {
00009 public:
00010 
00011   Antipodal(const Eigen::Matrix3Xd& normals);
00012 
00013   int evaluateGrasp(double thresh_half, double thresh_full);
00014 
00015   static const int NO_GRASP; // normals point not toward any finger
00016   static const int HALF_GRASP; // normals point towards one finger
00017   static const int FULL_GRASP; // normals point towards both fingers
00018 
00019 private:
00020 
00021   Eigen::Matrix3Xd normals_;
00022 };
00023 
00024 #endif /* ANTIPODAL_H_ */


agile_grasp
Author(s): Andreas ten Pas
autogenerated on Sat Jun 8 2019 20:08:27