GraspSubTask Class Reference

Describes a sub task of overall grasp task. More...

#include <GraspSubTask.hpp>

Public Member Functions
void	addTarget (const rw::math::Transform3D<> &target)
void	addTarget (const GraspTarget &target)
rw::math::Q &	getOpenQ ()
rw::math::Q &	getCloseQ ()
rw::math::Q &	getTauMax ()
void	setOpenQ (const rw::math::Q &q)
void	setCloseQ (const rw::math::Q &q)
void	setTauMax (const rw::math::Q &q)
const rw::math::Transform3D &	getOffset ()
void	setRetract (const rw::math::Transform3D<> &t3d)
bool	hasRetract ()
const rw::math::Transform3D &	getRetract ()
void	setApproach (const rw::math::Transform3D<> &t3d)
bool	hasApproach ()
const rw::math::Transform3D &	getApproach ()
void	setRefFrame (const std::string &rframe)
std::string	getRefFrame ()
GraspSubTask	clone ()
	Clones the subtask copying everything except targets.
std::vector< GraspTarget > &	getTargets ()
std::string	getTaskID ()
void	setTaskID (const std::string &ID)

Public Attributes
std::string	refframe
std::string	objectID
rw::math::Transform3D	offset
rw::math::Transform3D	approach
rw::math::Transform3D	retract
rw::math::Q	openQ
rw::math::Q	closeQ
rw::math::Q	tauMax
std::vector< GraspTarget >	targets
std::string	taskID

Detailed Description

Describes a sub task of overall grasp task.

It is concerned with a specific way of grasping a single target object, describing:

• target object name,
• gripper open and close configurations,
• approach and retract vectors

---

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

• GraspSubTask.hpp