simple_grasp_planner: simple_grasp_planner: SimpleGraspPlanner.h Source File

00001 /*
00002  * Copyright (c) 2008, U. Klank
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  *
00029  */
00030 #ifndef SIMPLE_GRASP_PLANNER
00031 #define SIMPLE_GRASP_PLANNER
00032 
00033  #ifdef __cplusplus
00034  extern "C" {
00035  #endif
00036 
00037 
00038 typedef struct
00039 {
00040   double x;
00041   double y;
00042   double z;
00043 }
00044 Point3D;
00045 
00046 typedef struct
00047 {
00048   double sx; double sxy; double sxz;
00049   double syx; double sy; double syz;
00050   double szx; double szy; double sz;
00051 }
00052 CovariancePoint;
00053 
00054 typedef struct
00055 {
00056   double alpha;
00057   double beta;
00058   double delta_max;
00059 }
00060 HandConfig;
00061 
00062 #define MAX_TESTED_POSES 1000
00063 
00064 typedef struct 
00065 {
00066   int length;
00067   int min_score_index;
00068   double     scores[MAX_TESTED_POSES];
00069   HandConfig configs[MAX_TESTED_POSES]; 
00070 }
00071 HandConfList;
00072 int InitSGP(Point3D* hand_points, int num, double table_z);
00073 
00074 void setTableHeight(double table_z);
00075 double getTableHeight();
00076 
00077 Point3D TransformPoint(Point3D hand, Point3D target, double alpha, double beta, double delta);
00078 
00079 HandConfig GetGraspLM(Point3D* obstacle_list, CovariancePoint* obstacle_covs, int num,
00080                       double offset_rot_z_side, double offset_ros_z_top);
00081 
00082 HandConfList GetGraspList(Point3D* obstacle_list, CovariancePoint* obstacle_covs, int num,
00083                       double offset_rot_z_side, double offset_ros_z_top);
00084 
00085 
00086  #ifdef __cplusplus
00087  }
00088  #endif
00089 #endif