SDHLibrary-CPP 0.0.2.10SCHUNK GmbH & Co. KG
C++ access library for SCHUNK Dextrous Hand SDH

cIsGraspedByArea Class Reference

class for calculation of IsGrasped condition using an expected area of contact measured by the tactile sensors More...

#include <dsaboost.h>

Inheritance diagram for cIsGraspedByArea:
Collaboration diagram for cIsGraspedByArea:

List of all members.

Public Member Functions

void SetCondition (double eaf0p, double eaf0d, double eaf1p, double eaf1d, double eaf2p, double eaf2d)
void SetCondition (double *eafx)
 overloaded variant which uses an array of doubles instead of 6 single double parameters
 cIsGraspedByArea (SDH::cDSA *_ts)
 default constructor which initializes the internal date
virtual bool IsGrasped (void)

Detailed Description

class for calculation of IsGrasped condition using an expected area of contact measured by the tactile sensors


Constructor & Destructor Documentation

cIsGraspedByArea::cIsGraspedByArea ( SDH::cDSA _ts)

default constructor which initializes the internal date


Member Function Documentation

bool cIsGraspedByArea::IsGrasped ( void  ) [virtual]

Implementation of is grasped condition.

Returns:
true if the object is grasped according to the actual tactile sensor data in ts and the condition set with SetCondition()

Implements cIsGraspedBase.

void cIsGraspedByArea::SetCondition ( double  eaf0p,
double  eaf0d,
double  eaf1p,
double  eaf1d,
double  eaf2p,
double  eaf2d 
)

set the is grasped condition

Parameters:
eaf0p- expected area of finger 0 proximal for detecting grasp condition, value [0..1] with 0=no area, 1=full area
eaf0d- expected area of finger 0 distal for detecting grasp condition, value [0..1] with 0=no area, 1=full area
eaf1p- ...
eaf1d- ...
eaf2p- ...
eaf2d- ...
void cIsGraspedByArea::SetCondition ( double *  eafx)

overloaded variant which uses an array of doubles instead of 6 single double parameters


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