GraspContacts (previously named GraspConfiguration) only holds PCL points for the two contact points found. GraspPose is created for calculating a grasp pose using Eigen, as well as providing the contacts as Eigen points, which should be more easily included into a robotic pipeline. This pose is obtained from the orientation of the object and the orientation of the grasp, so it provides an approach vector. The translation of the pose is at the midpoint between the two contacts.
GraspContacts (previously named GraspConfiguration) only holds PCL points for the two contact points found. GraspPose is created for calculating a grasp pose using Eigen, as well as providing the contacts as Eigen points, which should be more easily included into a robotic pipeline. This pose is obtained from the orientation of the object and the orientation of the grasp, so it provides an approach vector. The translation of the pose is at the midpoint between the two contacts.