This is the parent class for the different types of grasp directions. More...
#include <grasp_directions.h>
Public Member Functions | |
| coordinates | get_dir () const |
| bool | get_empty () const |
| graspDirectionType | get_gdType () const |
| coordinates | get_point () const |
| GraspDirection () | |
| bool | operator== (const GraspDirection &) |
| virtual void | set_dir (coordinates in)=0 |
| void | set_empty (bool in) |
| void | set_gdType (graspDirectionType) |
| virtual void | set_point (coordinates in)=0 |
| virtual | ~GraspDirection () |
Protected Attributes | |
| coordinates * | dir |
| Palm approach vector. | |
| bool | empty |
| Not used. (Not sure what Steffen intended this for). | |
| graspDirectionType | gdType |
| The rule type that resulted in this grasp direction. | |
| coordinates * | point |
| Palm position. | |
This is the parent class for the different types of grasp directions.
A grasp directions consists of a palm position and palm approach vector. These can be expressed in any coordinate system (cartesian, cylindrical, or spherical. A grasp direction is created by the planner by using different rules for different types of shape primitives.
Definition at line 56 of file grasp_directions.h.
| GraspDirection::GraspDirection | ( | ) |
Sets empty to false.
Definition at line 50 of file grasp_directions.cpp.
| GraspDirection::~GraspDirection | ( | ) | [virtual] |
Stub destructor.
Definition at line 60 of file grasp_directions.cpp.
| coordinates GraspDirection::get_dir | ( | ) | const |
Returns a pointer to the palm approach vector coordinates.
Definition at line 79 of file grasp_directions.cpp.
| bool GraspDirection::get_empty | ( | ) | const |
Returns the value of empty.
Definition at line 97 of file grasp_directions.cpp.
| graspDirectionType GraspDirection::get_gdType | ( | ) | const |
Returns the grasp direction type.
Definition at line 115 of file grasp_directions.cpp.
| coordinates GraspDirection::get_point | ( | ) | const |
Returns a pointer to the palm position coordinates.
Definition at line 70 of file grasp_directions.cpp.
| bool GraspDirection::operator== | ( | const GraspDirection & | p | ) |
Compares this grasp direction to p . If the point and direction are the same and the value of empty is the same, then it returns TRUE.
Definition at line 125 of file grasp_directions.cpp.
| virtual void GraspDirection::set_dir | ( | coordinates | in | ) | [pure virtual] |
Sets the value of the palm approach vector to in .
Implemented in cartesianGraspDirection, cylindricalGraspDirection, and sphericalGraspDirection.
| void GraspDirection::set_empty | ( | bool | in | ) |
Sets empty to the value of in .
Definition at line 88 of file grasp_directions.cpp.
| void GraspDirection::set_gdType | ( | graspDirectionType | in | ) |
Sets the grasp direction type to in .
Definition at line 106 of file grasp_directions.cpp.
| virtual void GraspDirection::set_point | ( | coordinates | in | ) | [pure virtual] |
Sets the value of the palm position to in .
Implemented in cartesianGraspDirection, cylindricalGraspDirection, and sphericalGraspDirection.
coordinates* GraspDirection::dir [protected] |
Palm approach vector.
Definition at line 54 of file grasp_directions.h.
bool GraspDirection::empty [protected] |
Not used. (Not sure what Steffen intended this for).
Definition at line 57 of file grasp_directions.h.
graspDirectionType GraspDirection::gdType [protected] |
The rule type that resulted in this grasp direction.
Definition at line 60 of file grasp_directions.h.
coordinates* GraspDirection::point [protected] |
Palm position.
Definition at line 51 of file grasp_directions.h.
