parameters: (self,grasp,collisionfree=False)
return_statement: return dot(self.target.GetTransform(),self.GetLocalGraspTransform(grasp,collisionfree))
docstring: returns the final grasp transform before fingers start closing. If collisionfree is set to True, then will return a grasp that is guaranteed to be not in collision with the target object when at its preshape. This is achieved by by moving the hand back along igraspdir.
docstring_summary: returns the final grasp transform before fingers start closing. If collisionfree is set to True, then will return a grasp that is guaranteed to be not in collision with the target object when at its preshape. This is achieved by by moving the hand back along igraspdir.
docstring_tokens: returns the final grasp transform before fingers start closing . If collisionfree is set to True then will return a grasp that is guaranteed to be not in collision with the target object when at its preshape . This is achieved by by moving the hand back along igraspdir .
function: def getGlobalGraspTransform(self,grasp,collisionfree=False):
          """returns the final grasp transform before fingers start closing. If collisionfree is set to True, then will return a grasp that is guaranteed to be not in collision with the target object when at its preshape. This is achieved by by moving the hand back along igraspdir."""
          return dot(self.target.GetTransform(),self.GetLocalGraspTransform(grasp,collisionfree))
function_tokens: def getGlobalGraspTransform ( self , grasp , collisionfree = False ) : return dot ( self . target . GetTransform ( ) , self . GetLocalGraspTransform ( grasp , collisionfree ) )