gpContact Class Reference

#include <gpContact.h>

List of all members.

Public Member Functions
	gpContact ()
	Default constructor of the class gpContact.
	gpContact (const gpContact &contact)
gpContact &	operator= (const gpContact &contact)
	Copy operator of the class gpContact.
int	draw (double cone_length, int cone_nb_slices=10)
int	computeBarycentricCoordinates ()
int	computeCurvature ()
double	distanceToSharpEdge (double angleThreshold)
Public Attributes
unsigned int	ID
p3d_polyhedre *	surface
unsigned int	face
unsigned int	fingerID
p3d_vector3	position
p3d_vector3	normal
p3d_vector3	forceDirection
double	mu
p3d_vector3	baryCoords
double	curvature
double	score

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Detailed Description

This class is used to describe the characteristics of the contact points of a grasp. It is also used to describe the contact points of an object pose (class gpPose).

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Member Function Documentation

int gpContact::computeBarycentricCoordinates

(

)

Computes the barycentric coordinates of the contact. The barycentric coordinates are defined by the vertices of the triangle the contact belongs to. If the triangle points are p1, p2 and p3 and the contact is p, we have: p= a1*p1 + a2* p2 + a3*p3;

Returns:

GP_OK in case of success, GP_ERROR otherwise

int gpContact::computeCurvature

(

)

Computes the curvature at the contact. The computation is based on the barycentric coordinates of the contact and the curvature at the mesh vertices (computed outside Move3D).

Returns:

GP_OK in case of success, GP_ERROR otherwise

double gpContact::distanceToSharpEdge

(

double

angleThreshold

)

Computes the distance from the contact to a sharp edge. The function considers the edges of the face the contact is on. If one of the edge is not too "flat", the distance from the contact to the edge is computed and returned

Parameters:

angleThreshold

the edge angle (in radians) above which an edge is regarded as not flat

Returns:

the distance to the closest sharp edge, P3D_HUGE if there is no such edge or in case of error

int gpContact::draw	(	double	length,
		int	nb_slices = 10
	)

Draws a contact (position and friction cone).

Parameters:

length	lenght of the friction cone to draw
nb_slices	number of segments of the cone discretization

Returns:

GP_OK in case of success, GP_ERROR otherwise

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Member Data Documentation

p3d_vector3 gpContact::baryCoords

barycentric coordinates (defined by the vertices of the triangle) of the contact

double gpContact::curvature

curvature of the object surface at the contact point

unsigned int gpContact::face

index of the face (that must be a triangle), in the structure p3d_polyhedre, where the contact is located (starts from 0)

unsigned int gpContact::fingerID

ID (starting from 1) of the finger that realizes the contact (finger 1, finger 2, etc.)

p3d_vector3 gpContact::forceDirection

direction of the force exerted by the finger

unsigned int gpContact::ID

ID of the contact

double gpContact::mu

friction coefficient of the contact

p3d_vector3 gpContact::normal

surface normal at the contact point (directed outside the object)

p3d_vector3 gpContact::position

contact position given in the object's frame

double gpContact::score

a score that can be used for any ordering need

p3d_polyhedre* gpContact::surface

surface (object) of the contact

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

• /home/slemaign/softs-local/BioMove3D-git/graspPlanning/include/gpContact.h
• /home/slemaign/softs-local/BioMove3D-git/graspPlanning/gpContact.cpp