Public Member Functions | Private Member Functions | Private Attributes | List of all members
cIsGraspedByArea Class Reference

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

default constructor which initializes the internal date

Definition at line 190 of file dsaboost.cpp.

Member Function Documentation

◆ FullArea()

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.

◆ IsGrasped()

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()

Implements cIsGraspedBase.

Definition at line 202 of file dsaboost.cpp.

◆ SetCondition() [1/2]

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.

◆ SetCondition() [2/2]

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.

Member Data Documentation

◆ expected_area

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:


sdhlibrary_cpp
Author(s): Dirk Osswald
autogenerated on Mon Feb 28 2022 23:41:52