Package edu.tufts.hrilab.vision.stm

Class Grasp

java.lang.Object

edu.tufts.hrilab.vision.stm.Grasp

All Implemented Interfaces:

Serializable

public class Grasp
extends Object
implements Serializable

Describes a position from which an object can be grasped. Not guaranteed to be valid for any robot.

See Also:

• Serialized Form

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	Grasp.Type

Constructor Summary

Constructors

Constructor	Description
Grasp()
Grasp(Grasp.Type type, List<javax.vecmath.Vector3d> points, List<javax.vecmath.Quat4d> orients)
Grasp(javax.vecmath.Point3d point, javax.vecmath.Quat4d orient)

Method Summary

Modifier and Type	Method	Description
int	getNumOrientations()
int	getNumPoints()
javax.vecmath.Quat4d	getOrientation(int index)
javax.vecmath.Vector3d	getPoint(int index)
Grasp.Type	getType()
void	setOrientation(int index, double x, double y, double z, double w)
void	setOrientation(int index, javax.vecmath.Quat4d orient)
void	setPoint(int index, double x, double y, double z)
void	setPoint(int index, javax.vecmath.Vector3d point)
void	setType(int grasp_ordinal)
void	setType(Grasp.Type grasp_type)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

Grasp

public Grasp()

Grasp

public Grasp(javax.vecmath.Point3d point,
 javax.vecmath.Quat4d orient)

Grasp

public Grasp(Grasp.Type type,
 List<javax.vecmath.Vector3d> points,
 List<javax.vecmath.Quat4d> orients)

Method Details

setType

public void setType(Grasp.Type grasp_type)

setType

public void setType(int grasp_ordinal)

setPoint

public void setPoint(int index,
 double x,
 double y,
 double z)

setPoint

public void setPoint(int index,
 javax.vecmath.Vector3d point)

setOrientation

public void setOrientation(int index,
 double x,
 double y,
 double z,
 double w)

setOrientation

public void setOrientation(int index,
 javax.vecmath.Quat4d orient)

getType

public Grasp.Type getType()

getNumPoints

public int getNumPoints()

getPoint

public javax.vecmath.Vector3d getPoint(int index)

getNumOrientations

public int getNumOrientations()

getOrientation

public javax.vecmath.Quat4d getOrientation(int index)