/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/eigenGrasp.h File Reference

#include <assert.h>
#include <vector>
#include <QString>
#include <QTextStream>

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Classes
class	EigenGrasp
	A single eigengrasp direction. More...
class	EigenGraspInterface
Defines
#define	EIGENGRASP_LOOSE

---

Define Documentation

#define EIGENGRASP_LOOSE

If this is not defined, than motion along eigengrasps is permitted only if NO joint values are taken outside the legal range. If it defined, we allow motion as long as at least one joint is still legal, while artificially constraining the ones that would leave the legal range of motion This kind of constraining is unwanted because it implies movement that is not in eigen space and produces artifacts.

Definition at line 41 of file eigenGrasp.h.