* \brief Compares two 3D-vectors for uniqueness. * \param a the first 3D-vector * \param b the second 3D-vector * \return true if they

* \brief Compares two 4D-vectors for uniqueness (ignores the last element). * \param a the first 4D-vector * \param b the second 4D-vector

* \brief Set the bottom of the hand (robot hand base). * \param bottom the hand bottom */

* \brief Set the camera source matrix. * \param cam_source the camera source matrix (size: k x n) */

* \brief Set the center of the hand. * \param bottom the hand center */

* \brief Set a single grasp to be valid or not. * \param idx the index of the grasp * \param val true if the grasp is valid, false if it is not

* \brief Set the lateral position of the left finger. * \param left the lateral position of the left finger */

* \brief Set the minimum number of cluster inliers. * \param min_inliers the minimum number of cluster inliers */

* \brief Set the surface normals. * \param normals the surface normals (size: 3 x n) */

* \brief Set the number of samples. * \param num_samples the number of samples */

* \brief Set the parameters for the hand search. * \param params the parameters */

* \brief Set the points. * \param points the points (size: 3 x n) */

* \brief Set the lateral position of the right finger. * \param right the lateral position of the right finger */

* \brief Set the sample for the point neighborhood. * \param sample the sample to be used */

* \brief Set where the bottom of the hand is in the point cloud. * \param left where the bottom of the hand is in the point cloud */

* \brief Set where the top of the hand is (where the fingertips are). * \param top where the top of the hand is */

* \brief Set the camera view points. * \return the origins of the cameras (size: 3 x k) */

* \brief Set the view points of the cameras. * \param points the view points (size: 3 x k) */

* \brief Constructor. */