ROSEE::ActionPinchTight::depthComp Struct Reference

struct to put in order the actionStates. More...

Collaboration diagram for ROSEE::ActionPinchTight::depthComp:

Public Member Functions
bool	operator() (const StateWithContact &a, const StateWithContact &b) const

Detailed Description

struct to put in order the actionStates.

The first elements are the ones with greater depth , even if is almost impossible, two different contact with same depth will be considered equal with this definition of depthComp. Theoretically they are equal only if the joint status are equal (of only joints that act for the collision). In fact, we should have the possibility to have two contact with the same depth (if joint statuses are different), they will be equally good

Definition at line 99 of file ActionPinchTight.h.

Member Function Documentation

bool ROSEE::ActionPinchTight::depthComp::operator() ( const StateWithContact &  a, const StateWithContact &  b  ) const

inline

Definition at line 100 of file ActionPinchTight.h.

        {return (std::abs(a.second.depth) > std::abs(b.second.depth) );}

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

• /home/travis/build/ADVRHumanoids/ROSEndEffector/include/end_effector/GraspingActions/ActionPinchTight.h