This is a HandObjectState that stores more information useful for grasp planning. More...
#include <searchState.h>
Public Member Functions | |
| void | copyFrom (const GraspPlanningState *t) |
| const std::list< position > * | getContacts () const |
| std::list< position > * | getContacts () |
| double | getDistance () const |
| double | getEnergy () const |
| double | getEpsilonQuality () const |
| int | getIndex () const |
| int | getItNumber () const |
| double | getVolume () const |
| GraspPlanningState (const GraspPlanningState *gps) | |
| GraspPlanningState (Hand *hand) | |
| bool | isLegal () const |
| void | setDistance (double d) |
| void | setEnergy (double e) |
| void | setEpsilonQuality (double q) |
| void | setIndex (double i) |
| void | setItNumber (int n) |
| void | setLegal (bool l) |
| void | setVolume (double v) |
Static Public Member Functions | |
| static bool | compareStates (const GraspPlanningState *s1, const GraspPlanningState *s2) |
| Compares two states by their saved "energy" information. | |
| static bool | compareStatesDistances (const GraspPlanningState *s1, const GraspPlanningState *s2) |
| Compares two states by their saved "distance" information. | |
Private Attributes | |
| std::list< position > | mContacts |
| The list of contacts between hand and object in object coordinates. | |
| double | mDistance |
| For the online planner, this is the distance between the hand and the object. | |
| double | mEnergy |
| The energy used by the simulated annealing-based planners. | |
| int | mIndex |
| Used for grasp cross-correlation; shows the index of the original grasp that was used for this one. | |
| int | mItNumber |
| The iteration number inside the search that this state was found at. | |
| bool | mLegal |
| Whether this state is legal or not, usually refers to presence or absence of collisions. | |
| double | mQualEpsilon |
| The epsilon quality for this grasp. | |
| double | mQualVolume |
| The volume quality for this grasp. | |
This is a HandObjectState that stores more information useful for grasp planning.
In addition to the state, this class can store more information needed for grasp planning. This includes whether the state is "legal" or not, the grasp quality, energy, etc. However, it has no intelligence, in the sense that it does not compute any of these; it just stores whatever is set externally.
Definition at line 350 of file searchState.h.
| GraspPlanningState::GraspPlanningState | ( | Hand * | hand | ) | [inline] |
Definition at line 372 of file searchState.h.
| GraspPlanningState::GraspPlanningState | ( | const GraspPlanningState * | gps | ) | [inline] |
Definition at line 373 of file searchState.h.
| bool GraspPlanningState::compareStates | ( | const GraspPlanningState * | s1, | |
| const GraspPlanningState * | s2 | |||
| ) | [static] |
Compares two states by their saved "energy" information.
Definition at line 701 of file searchState.cpp.
| bool GraspPlanningState::compareStatesDistances | ( | const GraspPlanningState * | s1, | |
| const GraspPlanningState * | s2 | |||
| ) | [static] |
Compares two states by their saved "distance" information.
Definition at line 709 of file searchState.cpp.
| void GraspPlanningState::copyFrom | ( | const GraspPlanningState * | t | ) | [inline] |
Definition at line 377 of file searchState.h.
| const std::list<position>* GraspPlanningState::getContacts | ( | ) | const [inline] |
Definition at line 399 of file searchState.h.
| std::list<position>* GraspPlanningState::getContacts | ( | ) | [inline] |
Definition at line 398 of file searchState.h.
| double GraspPlanningState::getDistance | ( | ) | const [inline] |
Definition at line 393 of file searchState.h.
| double GraspPlanningState::getEnergy | ( | ) | const [inline] |
Definition at line 390 of file searchState.h.
| double GraspPlanningState::getEpsilonQuality | ( | ) | const [inline] |
Definition at line 395 of file searchState.h.
| int GraspPlanningState::getIndex | ( | ) | const [inline] |
Definition at line 397 of file searchState.h.
| int GraspPlanningState::getItNumber | ( | ) | const [inline] |
Definition at line 392 of file searchState.h.
| double GraspPlanningState::getVolume | ( | ) | const [inline] |
Definition at line 396 of file searchState.h.
| bool GraspPlanningState::isLegal | ( | ) | const [inline] |
Definition at line 391 of file searchState.h.
| void GraspPlanningState::setDistance | ( | double | d | ) | [inline] |
Definition at line 393 of file searchState.h.
| void GraspPlanningState::setEnergy | ( | double | e | ) | [inline] |
Definition at line 390 of file searchState.h.
| void GraspPlanningState::setEpsilonQuality | ( | double | q | ) | [inline] |
Definition at line 395 of file searchState.h.
| void GraspPlanningState::setIndex | ( | double | i | ) | [inline] |
Definition at line 397 of file searchState.h.
| void GraspPlanningState::setItNumber | ( | int | n | ) | [inline] |
Definition at line 392 of file searchState.h.
| void GraspPlanningState::setLegal | ( | bool | l | ) | [inline] |
Definition at line 391 of file searchState.h.
| void GraspPlanningState::setVolume | ( | double | v | ) | [inline] |
Definition at line 396 of file searchState.h.
std::list<position> GraspPlanningState::mContacts [private] |
The list of contacts between hand and object in object coordinates.
Definition at line 369 of file searchState.h.
double GraspPlanningState::mDistance [private] |
For the online planner, this is the distance between the hand and the object.
Definition at line 360 of file searchState.h.
double GraspPlanningState::mEnergy [private] |
The energy used by the simulated annealing-based planners.
Definition at line 354 of file searchState.h.
int GraspPlanningState::mIndex [private] |
Used for grasp cross-correlation; shows the index of the original grasp that was used for this one.
Definition at line 366 of file searchState.h.
int GraspPlanningState::mItNumber [private] |
The iteration number inside the search that this state was found at.
Definition at line 358 of file searchState.h.
bool GraspPlanningState::mLegal [private] |
Whether this state is legal or not, usually refers to presence or absence of collisions.
Definition at line 356 of file searchState.h.
double GraspPlanningState::mQualEpsilon [private] |
The epsilon quality for this grasp.
Definition at line 362 of file searchState.h.
double GraspPlanningState::mQualVolume [private] |
The volume quality for this grasp.
Definition at line 364 of file searchState.h.
