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RobWorkProject
24.12.4-
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Describes the result of a single grasp. More...
#include <GraspResult.hpp>
Public Types | |
enum | TestStatus { UnInitialized = 0 , Success , CollisionInitially , ObjectMissed , ObjectDropped , ObjectSlipped , TimeOut , SimulationFailure , InvKinFailure , PoseEstimateFailure , CollisionFiltered , CollisionObjectInitially , CollisionEnvironmentInitially , CollisionDuringExecution , Interference , WrenchInsufficient , Filtered , Skip , SizeOfStatusArray } |
the possible discrete outcomes of a single task simulation | |
typedef rw::core::Ptr< GraspResult > | Ptr |
Smart pointer to this type of class. | |
Public Member Functions | |
GraspResult () | |
Constructor. | |
virtual | ~GraspResult () |
Destructor. | |
GraspResult (const GraspResult &gresult) | |
Copy constructor. | |
Static Public Member Functions | |
static std::string | toString (GraspResult::TestStatus status) |
Returns textual representation of given TestStatus. | |
Public Attributes | |
int | testStatus |
double | liftresult |
rw::math::Q | gripperConfigurationGrasp |
rw::math::Q | gripperConfigurationLift |
rw::math::Q | qualityBeforeLifting |
rw::math::Q | qualityAfterLifting |
rw::math::Transform3D | objectTtcpTarget |
rw::math::Transform3D | objectTtcpApproach |
rw::math::Transform3D | objectTtcpGrasp |
rw::math::Transform3D | objectTtcpLift |
std::vector< rw::math::Transform3D<> > | gripperTobjects |
std::vector< rw::sensor::Contact3D > | contactsGrasp |
std::vector< rw::sensor::Contact3D > | contactsLift |
std::vector< rw::math::Transform3D<> > | interferenceTs |
std::vector< double > | interferenceDistances |
std::vector< double > | interferenceAngles |
std::vector< double > | interferences |
double | interference |
Describes the result of a single grasp.