GraspitDBPlanner Class Reference

#include <graspit_db_planner.h>

Public Types
enum	DynamicCode { DYNAMIC_SUCCESS = 0, DYNAMIC_NO_FC = 1, DYNAMIC_OBJECT_EJECTED = 2, DYNAMIC_ERROR = 3, DYNAMIC_APPROACH_FAILED = 4, NO_DYNAMICS = 5 }
enum	TestType { STATIC = 0, DYNAMIC = 1 }
Public Slots
void	dynamicsError (const char *)
Public Member Functions
void	computeQuality (float &eq, float &vq)
	Computes the epsilon quality(eq) and the volume quality(vq) for the current grasp.
void	crossCorrelate (const std::vector< db_planner::Model * > testModels, std::vector< db_planner::Grasp * > graspList)
	GraspitDBPlanner (Hand h, db_planner::Model b, db_planner::DatabaseManager m, db_planner::Aligner< db_planner::Model > a)
bool	testCurrentGrasp (TestType t, DynamicCode *c=NULL)
	This will test one grasp.
bool	testGrasps (TestType t, std::vector< db_planner::Grasp * >, std::vector< db_planner::Grasp * > *testedGraspList)
	This will test all the grasps in.
	~GraspitDBPlanner ()
Private Member Functions
bool	checkDynBody ()
	Check if we need initialize the body for dynamic test.
void	dynamicBodyInit ()
	For CGDB dynamic body test.
void	moveBy (vec3 v)
	Move the hand by the step specified by the vector.
bool	moveHandOutOfCollision ()
	This moves the hand out of collision.
bool	testGraspDynamic (DynamicCode *code)
	Dynamic test.
bool	testGraspStatic ()
	Static test.
Private Attributes
db_planner::Aligner < db_planner::Model > *	mAligner
	Used for aligning our object with its nbrs found in the dbase.
db_planner::DatabaseManager *	mDBMgr
	The mgr of the dbase we are using.
bool	mDynamicsError
	Helper variable for the dynamic autograsp.
QualEpsilon *	mEpsQual
	Epsilon quality measure.
Hand *	mHand
	The hand that we are planning for.
db_planner::Model *	mObject
	The grasped object.
std::vector< GraspPlanningState * >	mTestedGrasps
	Stores the tested grasps.
QualVolume *	mVolQual
	Volume quality measure.

Detailed Description

Definition at line 53 of file graspit_db_planner.h.

Member Enumeration Documentation

enum GraspitDBPlanner::DynamicCode

Enumerator:

DYNAMIC_SUCCESS
DYNAMIC_NO_FC
DYNAMIC_OBJECT_EJECTED
DYNAMIC_ERROR
DYNAMIC_APPROACH_FAILED
NO_DYNAMICS

Definition at line 56 of file graspit_db_planner.h.

enum GraspitDBPlanner::TestType

Enumerator:

STATIC
DYNAMIC

Definition at line 57 of file graspit_db_planner.h.

Constructor & Destructor Documentation

GraspitDBPlanner::GraspitDBPlanner	(	Hand *	h,
		db_planner::Model *	b,
		db_planner::DatabaseManager *	m,
		db_planner::Aligner< db_planner::Model > *	a
	)			`[inline]`

Definition at line 94 of file graspit_db_planner.h.

GraspitDBPlanner::~GraspitDBPlanner ( )

Definition at line 47 of file graspit_db_planner.cpp.

Member Function Documentation

bool GraspitDBPlanner::checkDynBody ( ) [private]

Check if we need initialize the body for dynamic test.

Definition at line 215 of file graspit_db_planner.cpp.

void GraspitDBPlanner::computeQuality	(	float &	eq,
		float &	vq
	)

Computes the epsilon quality(eq) and the volume quality(vq) for the current grasp.

Definition at line 224 of file graspit_db_planner.cpp.

void GraspitDBPlanner::crossCorrelate	(	const std::vector< db_planner::Model * >	modelList,
		std::vector< db_planner::Grasp * >	graspList
	)

This does cross correlation of the grasps in graspList by applying them on the models in modelList. For each test of a grasp in graspList, the test score will be recorded. In the end, all the grasps will NOT be ranked by the average of the records associated with the grasps. After it, the grasps in graspList will have their test scores filled.

The grasps in graspList will be tested and their DBGrasp::mTestScores will be modified during the cross correlation. The grasps will not be sorted based on any scheme. It is the caller's responsibility to sort the results based on its application.

Definition at line 336 of file graspit_db_planner.cpp.

void GraspitDBPlanner::dynamicBodyInit ( ) [private]

For CGDB dynamic body test.

Definition at line 220 of file graspit_db_planner.cpp.

void GraspitDBPlanner::dynamicsError ( const char * ) [slot]

Definition at line 107 of file graspit_db_planner.cpp.

void GraspitDBPlanner::moveBy ( vec3 v ) [private]

Move the hand by the step specified by the vector.

Definition at line 54 of file graspit_db_planner.cpp.

bool GraspitDBPlanner::moveHandOutOfCollision ( ) [private]

This moves the hand out of collision.

Definition at line 63 of file graspit_db_planner.cpp.

bool GraspitDBPlanner::testCurrentGrasp	(	TestType	t,
		DynamicCode *	c = `NULL`
	)

This will test one grasp.

Definition at line 204 of file graspit_db_planner.cpp.

bool GraspitDBPlanner::testGraspDynamic ( DynamicCode * code ) [private]

Dynamic test.

Definition at line 113 of file graspit_db_planner.cpp.

bool GraspitDBPlanner::testGrasps	(	TestType	t,
		std::vector< db_planner::Grasp * >	graspList,
		std::vector< db_planner::Grasp * > *	testedGraspList
	)

This will test all the grasps in.

Every grasp in graspList will be tested and stored in testedGraspList even if their test scores, epsilon quality and volume quality, are not positive, which means they are not stable grasps.

Definition at line 254 of file graspit_db_planner.cpp.

bool GraspitDBPlanner::testGraspStatic ( ) [private]

Static test.

Definition at line 193 of file graspit_db_planner.cpp.

Member Data Documentation

db_planner::Aligner<db_planner::Model>* GraspitDBPlanner::mAligner [private]

Used for aligning our object with its nbrs found in the dbase.

Definition at line 66 of file graspit_db_planner.h.

db_planner::DatabaseManager* GraspitDBPlanner::mDBMgr [private]

The mgr of the dbase we are using.

Definition at line 64 of file graspit_db_planner.h.

bool GraspitDBPlanner::mDynamicsError [private]

Helper variable for the dynamic autograsp.

Definition at line 70 of file graspit_db_planner.h.

QualEpsilon* GraspitDBPlanner::mEpsQual [private]

Epsilon quality measure.

Definition at line 72 of file graspit_db_planner.h.

Hand* GraspitDBPlanner::mHand [private]

The hand that we are planning for.

Definition at line 60 of file graspit_db_planner.h.

db_planner::Model* GraspitDBPlanner::mObject [private]

The grasped object.

Definition at line 62 of file graspit_db_planner.h.

std::vector<GraspPlanningState*> GraspitDBPlanner::mTestedGrasps [private]

Stores the tested grasps.

Definition at line 68 of file graspit_db_planner.h.

QualVolume* GraspitDBPlanner::mVolQual [private]

Volume quality measure.

Definition at line 74 of file graspit_db_planner.h.

The documentation for this class was generated from the following files:

/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/DBase/graspit_db_planner.h
/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/DBase/graspit_db_planner.cpp

GraspitDBPlanner Class Reference

Public Types

Public Slots

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation