#include <gpGrasp.h>

Public Member Functions
	gpDoubleGrasp ()
	Default constructor of the class gpDoubleGrasp.
	gpDoubleGrasp (const gpGrasp &graspA, const gpGrasp &graspB)
	Constructor of the class gpDoubleGrasp from two gpGrasp.
	gpDoubleGrasp (const gpDoubleGrasp &dgrasp)
int	setFromSingleGrasps (const gpGrasp &graspA, const gpGrasp &graspB)
gpDoubleGrasp &	operator= (const gpDoubleGrasp &dgrasp)
	Copy operator of the class gpDoubleGrasp.
bool	operator< (const gpDoubleGrasp &grasp)
	Double grasp quality comparison operator.
int	print ()
int	draw (double cone_length, int cone_nb_slices=10)
int	computeStability ()
int	computeQuality ()
int	computeBestObjectOrientation (p3d_matrix4 torsoPose, p3d_matrix4 objectPose)
Public Attributes
int	ID
gpGrasp	grasp1
gpGrasp	grasp2
double	distanceScore
double	stability
double	quality

Detailed Description

This class is used to describe all the characteristics of a double grasp (the object is grasped simultaneously with the two hands).

Member Function Documentation

int gpDoubleGrasp::computeBestObjectOrientation	(	p3d_matrix4	torsoPose,
		p3d_matrix4	objectPose
	)

Computes the "best" orientation to give to an object to grasp it from a given position with the double grasp and for a given pose of the robot torso. The function will try to align the best possible the hand frame to the torse pose.

Parameters:

torsoPose	torso pose matrix in world coordinates
objectPose	object pose matrix in world coordinates Only the position part is used, the rotation part will be filled by the function.

Returns:: GP_OK in case of success, GP_ERROR otherwise NB: this function only works if the double grasp has one grasp for GP_SAHAND_RIGHT and one grasp for GP_SAHAND_LEFT. The convention for the torso pose matrix is Z upward,, X points to the front of the torse and Y to its left.

int gpDoubleGrasp::computeQuality ( )

Computes the quality score of a double grasp.

Returns:: GP_OK in case of success, GP_ERROR otherwise

int gpDoubleGrasp::computeStability ( )

Computes the stability score of a double grasp.

Returns:: GP_OK in case of success, GP_ERROR otherwise

int gpDoubleGrasp::draw	(	double	length,
		int	nb_slices = `10`
	)

Draws all the contacts of a double grasp.

Parameters:

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

Returns:: GP_OK in case of success, GP_ERROR otherwise The convention is (view from top, with direct frames) Z Z ^ ^ | | | | || || || || || || || || || / / \ \ || || || ||_||_|| / / \ \ ||_||_|| | / ---> Y Y <--- \ | |__LEFT__/ |__RIGHT_|

int gpDoubleGrasp::print ( )

Prints the content of a gpDoubleGrasp variable in the standard output.