class for calculation of IsGrasped condition using an expected area of contact measured by the tactile sensors More...
#include <dsaboost.h>
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... | |
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.
cIsGraspedByArea::cIsGraspedByArea | ( | SDH::cDSA * | _ts | ) |
default constructor which initializes the internal date
Definition at line 190 of file dsaboost.cpp.
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private |
helper function, return full area of sensor patch m in mm*mm
Definition at line 165 of file dsaboost.cpp.
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virtual |
Implementation of is grasped condition.
Implements cIsGraspedBase.
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
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.
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private |
array of expected contact area of sensor patch in mm*mm
Definition at line 125 of file dsaboost.h.