A class to build an L1 GWS. More...
#include <gws.h>
Public Member Functions | |
| int | build (std::vector< int > useDimensions=ALL_DIMENSIONS) |
| Build the GWS using individual contact wrenches. | |
| virtual const char * | getType () |
| L1GWS (Grasp *g) | |
Static Public Member Functions | |
| static const char * | getClassType () |
Static Private Attributes | |
| static const char * | type = "L1 Norm" |
| Name of this type of GWS. | |
A class to build an L1 GWS.
A unit grasp wrench space constructed using the L1 norm of the grasp vector (i.e. The sum magnitude of all contact normal forces is 1).
Definition at line 138 of file gws.h.
| int L1GWS::build | ( | std::vector< int > | useDimensions = ALL_DIMENSIONS |
) | [virtual] |
Build the GWS using individual contact wrenches.
Builds an L1 GWS by simply taking the union of all the contact wrenches, and using these as the input for the convex hull operation (performed by qhull). The output of qhull is the list of equations of the hyperplanes that bound the hull as well as the hull area and hull volume. These are all saved within the GWS. Returns FAILURE or SUCCESS.
You can ask for the GWS to be built using only a subset of the 6 dimensions of force and torque normally available. These are, in this order:
fx, fy, fz, tx, ty, tz
If you want only a subset to be used, pass a vector of 6 ints with 1 for the dimensions you want or 0 for those that you do not want. For example, if you want a GWS that only uses fx, fy and tz, pass the following vector:
1, 1, 0, 0, 0, 1
If you want to use all 6 dimensions, pass the default value of GWS::ALL_DIMENSIONS.
Implements GWS.
| static const char* L1GWS::getClassType | ( | ) | [inline, static] |
| virtual const char* L1GWS::getType | ( | ) | [inline, virtual] |
const char * L1GWS::type = "L1 Norm" [static, private] |
