/*!
Copies the point and dir pointers from \a p. Also copies the values
of empty and gdType .
*/
cartesianGraspDirection::cartesianGraspDirection(const cartesianGraspDirection& p) : GraspDirection()
{
point = new cartesian_coordinates(p.get_point());
dir = new cartesian_coordinates(p.get_dir());
empty = p.get_empty();
set_gdType(p.get_gdType());
}
/*!
Returns a normalized distance measure between this grasp direction and
\a to .
*/
double
cartesianGraspDirection::distanceTo(cartesianGraspDirection to) const
{
double dist = point->distanceTo(to.get_point());
dist += dir->distanceTo(to.get_dir());
/* max is 2.0, every dist normed to 1 */
return dist / 2.0;
}
