class for calculation of IsGrasped condition using an expected area of contact measured by the tactile sensors More...

#include <dsaboost.h>

Inheritance diagram for cIsGraspedByArea:

Public Member Functions
	cIsGraspedByArea (SDH::cDSA *_ts)
	default constructor which initializes the internal date More...

virtual bool	IsGrasped (void)

void	SetCondition (double eaf0p, double eaf0d, double eaf1p, double eaf1d, double eaf2p, double eaf2d)

void	SetCondition (double *eafx)
	overloaded variant which uses an array of doubles instead of 6 single double parameters More...

Public Member Functions inherited from cIsGraspedBase
	cIsGraspedBase (SDH::cDSA *_ts)

Private Member Functions
double	FullArea (int m)
	helper function, return full area of sensor patch m in mm*mm More...

Private Attributes
double	expected_area [6]
	array of expected contact area of sensor patch in mm*mm More...

Additional Inherited Members
Protected Attributes inherited from cIsGraspedBase
SDH::cDSA *	ts
	ptr to the cDSA tactile sensor object to use More...

Detailed Description

class for calculation of IsGrasped condition using an expected area of contact measured by the tactile sensors

Definition at line 122 of file dsaboost.h.

Constructor & Destructor Documentation

cIsGraspedByArea::cIsGraspedByArea ( SDH::cDSA * _ts )

default constructor which initializes the internal date

Definition at line 190 of file dsaboost.cpp.

double cIsGraspedByArea::FullArea ( int m )

private

helper function, return full area of sensor patch m in mm*mm

Definition at line 165 of file dsaboost.cpp.

bool cIsGraspedByArea::IsGrasped ( void )

virtual

Implementation of is grasped condition.

Returns: true if the object is grasped according to the actual tactile sensor data in ts and the condition set with SetCondition()

Definition at line 202 of file dsaboost.cpp.

void cIsGraspedByArea::SetCondition	(	double	eaf0p,
		double	eaf0d,
		double	eaf1p,
		double	eaf1d,
		double	eaf2p,
		double	eaf2d
	)

set the is grasped condition

Parameters

eaf0p	- expected area of finger 0 proximal for detecting grasp condition, value [0..1] with 0=no area, 1=full area
eaf0d	- expected area of finger 0 distal for detecting grasp condition, value [0..1] with 0=no area, 1=full area
eaf1p	- ...
eaf1d	- ...
eaf2p	- ...
eaf2d	- ...

Definition at line 172 of file dsaboost.cpp.

void cIsGraspedByArea::SetCondition ( double * eafx )

overloaded variant which uses an array of doubles instead of 6 single double parameters

Definition at line 183 of file dsaboost.cpp.

double cIsGraspedByArea::expected_area[6]

private

array of expected contact area of sensor patch in mm*mm

Definition at line 125 of file dsaboost.h.

The documentation for this class was generated from the following files: