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

Constructor Summary

Constructors

Constructor	Description
Grasp()
Grasp(List<javax.vecmath.Vector3d> points, javax.vecmath.Quat4d orientation)
Grasp(javax.vecmath.Point3d point, javax.vecmath.Quat4d orientation)

Method Summary

Modifier and Type	Method	Description
int	getNumPoints()
javax.vecmath.Quat4d	getOrientation()
javax.vecmath.Vector3d	getPoint(int index)
void	setOrientation(double x, double y, double z, double w)
void	setOrientation(javax.vecmath.Quat4d orientation)
void	setPoint(int index, double x, double y, double z)
void	setPoint(int index, javax.vecmath.Vector3d point)

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 orientation)

Grasp

public Grasp(List<javax.vecmath.Vector3d> points,
 javax.vecmath.Quat4d orientation)

Method Details

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(double x,
 double y,
 double z,
 double w)

setOrientation

public void setOrientation(javax.vecmath.Quat4d orientation)

getNumPoints

public int getNumPoints()

getPoint

public javax.vecmath.Vector3d getPoint(int index)

getOrientation

public javax.vecmath.Quat4d getOrientation()