From 7f33a4c5c375b83df4ad614a3af83349c3b0e3af Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Sun, 31 Mar 2019 14:22:40 +0200
Subject: [PATCH] Modernize GraspQualityMeasureWrenchSpace
---
.../GraspQualityMeasureWrenchSpace.cpp | 19 ++++++++-----------
1 file changed, 8 insertions(+), 11 deletions(-)
diff --git a/GraspPlanning/GraspQuality/GraspQualityMeasureWrenchSpace.cpp b/GraspPlanning/GraspQuality/GraspQualityMeasureWrenchSpace.cpp
index 116c95d15..fe00636d1 100644
--- a/GraspPlanning/GraspQuality/GraspQualityMeasureWrenchSpace.cpp
+++ b/GraspPlanning/GraspQuality/GraspQualityMeasureWrenchSpace.cpp
@@ -330,12 +330,10 @@ namespace GraspStudio
return false;
}
- std::vector<MathTools::TriangleFace6D>::iterator faceIter;
-
- for (faceIter = convexHullGWS->faces.begin(); faceIter != convexHullGWS->faces.end(); faceIter++)
+ for (const auto& face : convexHullGWS->faces)
{
// ignore rounding errors
- if (faceIter->distPlaneZero > 1e-4)
+ if (face.distPlaneZero > 1e-4)
{
return false;
}
@@ -358,14 +356,14 @@ namespace GraspStudio
for (auto& face : ch->faces)
{
- if (face.distNormCenter > 0)
+ const auto dist = face.distNormCenter;
+ if (dist > 0)
{
+ //outside
nWrongFacets++;
+ continue;
}
- else if (-(face.distNormCenter) < fRes)
- {
- fRes = -(face.distNormCenter);
- }
+ fRes = std::min(fRes, -dist);
}
if (nWrongFacets > 0)
@@ -470,8 +468,7 @@ namespace GraspStudio
std::string GraspQualityMeasureWrenchSpace::getName()
{
- std::string sName("GraspWrenchSpace");
- return sName;
+ return "GraspWrenchSpace";
}
--
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