A class to build an L-Infinity GWS. More...
#include <gws.h>
Public Member Functions | |
| int | build (std::vector< int > useDimensions=ALL_DIMENSIONS) |
| Build the GWS using the Minkowski sum of all contact wrenches. | |
| virtual const char * | getType () |
| LInfGWS (Grasp *g) | |
Static Public Member Functions | |
| static const char * | getClassType () |
Static Private Attributes | |
| static const char * | type = "LInfinity Norm" |
| Name of this type of GWS. | |
A class to build an L-Infinity GWS.
A unit grasp wrench space constructed using the L-Infinity norm of the grasp vector (i.e. The maximum magnitude of any contact normal force is 1).
Definition at line 163 of file gws.h.
| int LInfGWS::build | ( | std::vector< int > | useDimensions = ALL_DIMENSIONS |
) | [virtual] |
Build the GWS using the Minkowski sum of all contact wrenches.
Builds an L Infinity GWS by finding the minkowski sum of the set of 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* LInfGWS::getClassType | ( | ) | [inline, static] |
| virtual const char* LInfGWS::getType | ( | ) | [inline, virtual] |
const char * LInfGWS::type = "LInfinity Norm" [static, private] |
