IcrServer Class Reference

Server that computes Independent Contact Regions. More...

#include <icr_server.h>

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Detailed Description

Server that computes Independent Contact Regions.

The icrServer can be parametrized in several ways:

• A model of an object can be loaded loadWfrontObj.
• The number of fingers can be specified addFingers.
• Each finger can be parametrized setFingerParameters. Finally, the icr can be computed using computeIcr.

Assumption is that IcrServer, when properly parametrized, returns indices of vertices that consist ICRs. Communication with IcrServer is done through services.

Example sequence of calling of services that leads to icr computation: ....

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

• icr_server.h