GripperModel Class Reference

Classes
class	compareModels
	A comparison function for Gripper Model sorting. More...
Public Member Functions
bool	collidesWithPlane (tf::Pose yz_plane)
double	evaluateGrasp (const pcl::PointCloud< PointT > &cloud, FeatureWeights &weights, tf::Vector3 default_centroid, bool debug_print=false, bool weights_as_output_features=false)
	Evaluates the gripper position, returning the cost of the grasp.
	GripperModel ()
void	publishModel (ros::Publisher &pub, std::string ns=std::string("gripper_model"), int id=0, ros::Duration lifetime=ros::Duration(5.0), double opacity=1.0, int action=visualization_msgs::Marker::ADD)
void	reset (bool resetStateAndScore=false)
void	setFrameId (const std::string &frame_id)
void	setHeader (const std_msgs::Header &header)
void	setStamp (const ros::Time &stamp)
void	toPoseStamped (geometry_msgs::PoseStamped &ps)
void	transform (const tf::Transform &T, const std::string &frame_id="")
void	transform (const geometry_msgs::Transform &T, const std::string &frame_id="")
Public Attributes
Box	bounding_box_
Box	extended_
std_msgs::Header	header
Box	l_finger_
ros::NodeHandle *	nh_ptr_
Box	palm_
ros::Publisher	pub_
Box	r_finger_
Box	roi_box_
double	score_
Box	space_
GraspState	state_
tf::Transform	tool_frame_
tf::Transform	wrist_frame_
Private Types
typedef pcl::PointXYZRGBNormal	PointT

Detailed Description

Definition at line 98 of file gripper_model.h.

typedef pcl::PointXYZRGBNormal GripperModel::PointT [private]

Definition at line 100 of file gripper_model.h.

GripperModel::GripperModel ( ) [inline]

Definition at line 109 of file gripper_model.h.

bool GripperModel::collidesWithPlane ( tf::Pose yz_plane )

double GripperModel::evaluateGrasp	(	const pcl::PointCloud< PointT > &	cloud,
		FeatureWeights &	weights,
		tf::Vector3	default_centroid,
		bool	debug_print = `false`,
		bool	weights_as_output_features = `false`
	)

Evaluates the gripper position, returning the cost of the grasp.

This description is displayed lower in the doxygen as an extended description along with the above brief description.

Parameters:

	cloud_in
	model	The gripper model representing the current grasp
	starting_gripper	The initial gripper model... what is this?
	default_centroid	TODO fix this
	cloud	The cloud chunk under consideration
	weights	The weights to use for evaluating the quality metric
	default_centroid	The location of the centroid of the cloud to use in case there are no points within the extended box

Definition at line 245 of file gripper_model.cpp.

void GripperModel::publishModel	(	ros::Publisher &	pub,
		std::string	ns = `std::string("gripper_model")`,
		int	id = `0`,
		ros::Duration	lifetime = `ros::Duration(5.0)`,
		double	opacity = `1.0`,
		int	action = `visualization_msgs::Marker::ADD`
	)