CMDistCCPMeasure3D (RobWork Java API Documentation)

java.lang.Object
- org.robwork.sdurw_graspplanning.GraspQualityMeasure3D
- - org.robwork.sdurw_graspplanning.CMDistCCPMeasure3D

```
public class CMDistCCPMeasure3D
extends GraspQualityMeasure3D
```
computes the quality as a function of the distance between
the center of mass (COM) and the Center of the Contact Polygon (CCP)

See ROA 3.2.3

Constructor Summary

Constructors
Constructor	Description
`CMDistCCPMeasure3D(long cPtr, boolean cMemoryOwn)`
`CMDistCCPMeasure3D(Vector3D CM, double maxDist)`	constructor

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`delete()`
`static long`	`getCPtr(CMDistCCPMeasure3D obj)`
`double`	`quality(Grasp3D grasp)`	computes the quality of the grasp such that the quality is in the interval [0;1] with 1 being the highest quality.

Methods inherited from class org.robwork.sdurw_graspplanning.GraspQualityMeasure3D
getCPtr

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - CMDistCCPMeasure3D
```
public CMDistCCPMeasure3D(long cPtr,
                          boolean cMemoryOwn)
```
  - CMDistCCPMeasure3D
```
public CMDistCCPMeasure3D(Vector3D CM,
                          double maxDist)
```
    constructor
    
    Parameters:
    
    CM - [in] The center of mass of the object described in the grasp frame.
    
    maxDist - [in] The max dist between CM and CCP that is allowed.
- Method Detail
  - getCPtr
```
public static long getCPtr(CMDistCCPMeasure3D obj)
```
  - delete
```
public void delete()
```
    Overrides:
    
    delete in class GraspQualityMeasure3D
  - quality
```
public double quality(Grasp3D grasp)
```
    computes the quality of the grasp such that the quality
    is in the interval [0;1] with 1 being the highest quality.
    
    Overrides:
    
    quality in class GraspQualityMeasure3D