EigenTorqueComputer Class Reference

#include <eigenTorques.h>

Inheritance diagram for EigenTorqueComputer:

[legend]

List of all members.

Public Member Functions
	EigenTorqueComputer (Hand *h)
virtual void	finalize ()
	Called after all the grasps have been processed.
virtual void	processGrasp ()
	Called for each grasp in the list.
virtual void	reset ()
	Resets the processor and prepares it for another list of grasps.
Private Attributes
int	mNumErrors
int	mNumOptimal
int	mNumUnfeasible
std::vector< Matrix >	mOptimalTorques
	Stores the optimal torques for each grasp.

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Detailed Description

Does a GFO for each grasp to compute the optimal joint torques and stores the torques for each grasp. Then it prints them to a file. It also prints statistics about the results of the optimizations.

Definition at line 87 of file eigenTorques.h.

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Constructor & Destructor Documentation

EigenTorqueComputer::EigenTorqueComputer

(

Hand *

h

)

[inline]

Definition at line 94 of file eigenTorques.h.

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Member Function Documentation

void EigenTorqueComputer::finalize

(

)

[virtual]

Called after all the grasps have been processed.

Implements GraspProcessor.

Definition at line 212 of file eigenTorques.cpp.

void EigenTorqueComputer::processGrasp

(

)

[virtual]

Called for each grasp in the list.

Implements GraspProcessor.

Definition at line 185 of file eigenTorques.cpp.

void EigenTorqueComputer::reset

(

)

[virtual]

Resets the processor and prepares it for another list of grasps.

Reimplemented from GraspProcessor.

Definition at line 178 of file eigenTorques.cpp.

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Member Data Documentation

int EigenTorqueComputer::mNumErrors [private]

Definition at line 90 of file eigenTorques.h.

int EigenTorqueComputer::mNumOptimal [private]

Definition at line 90 of file eigenTorques.h.

int EigenTorqueComputer::mNumUnfeasible [private]

Definition at line 90 of file eigenTorques.h.

std::vector<Matrix> EigenTorqueComputer::mOptimalTorques [private]

Stores the optimal torques for each grasp.

Definition at line 92 of file eigenTorques.h.

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

• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/optimizer/eigenTorques.h
• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/optimizer/eigenTorques.cpp