Definition of the ForceClosure. More...

#include <forceClosure.h>

Data Fields
yarp::sig::Vector	c1

yarp::sig::Vector	c2

yarp::sig::Vector	c3

yarp::sig::Vector	n1

yarp::sig::Vector	n2

yarp::sig::Vector	n3

double	alpha1

double	alpha2

double	alpha3

int	ov_cones

Detailed Description

Definition of the ForceClosure.

struct that represents a triplet of contact points along with their normals and the friction coefficient of the friction cones. The ov_cones parameter is used by the precision-grasp module.

Definition at line 60 of file forceClosure.h.

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

C:/dev/icub-contrib-iit/grasp/lib/forceClosure/include/iCub/grasp/forceClosure.h

Data Fields

Detailed Description