#include <onLineGraspInterface.h>
Public Member Functions | |
| void | action (ActionType a) |
| ActionType | getAction () |
| OnLineGraspInterface (Hand *h) | |
| GraspPlanningState * | updateHand (const std::list< GraspPlanningState * > *solutionList) |
| void | useRealBarrettHand (bool s) |
Private Member Functions | |
| bool | getSuggestedDOF (const GraspPlanningState *s, double *initialDof, double *finalDof) |
Private Attributes | |
| ActionType | mAction |
| BarrettHand * | mBarrettHand |
| When using a real Barrett hand this is the communicator with it. | |
| Hand * | mHand |
This class is designed to perform interactive grasping tasks where GraspIt helps the user by planning grasps interactively. It uses a list of planned grasps (presumably by some planner) and knows which hand to shape.
Planning good grasps is one thing; actually executing them is another. It's not enough to know a number of f-c grasps. You have to decide which one to choose, how to close the fingers gradually, etc. In this context you are also interacting with a human operator. You have to decide which grasp to use depending on what the operator is doing, shape the fingers,close them gradually as the operator is approaching the object etc.
These are all complicated problems in themselves. My main goal is to plan the grasps, how they are used is a different problem. There are probably better ways of accomplishing this, this one is just a proof-of-concept implementation to show how the OnLinePlanner can be applied.
Definition at line 55 of file onLineGraspInterface.h.
| OnLineGraspInterface::OnLineGraspInterface | ( | Hand * | h | ) |
Definition at line 38 of file onLineGraspInterface.cpp.
| void OnLineGraspInterface::action | ( | ActionType | a | ) |
Definition at line 145 of file onLineGraspInterface.cpp.
| ActionType OnLineGraspInterface::getAction | ( | ) | [inline] |
Definition at line 68 of file onLineGraspInterface.h.
| bool OnLineGraspInterface::getSuggestedDOF | ( | const GraspPlanningState * | s, | |
| double * | initialDof, | |||
| double * | finalDof | |||
| ) | [private] |
Given a solution (grasping position) this function finds a correct finger posture for the CURRENT position of the hand, so that it's as close as possible to the solution without hitting the object. It also checks if there is a path between the CURRENT position of the fingers and the desired one.
Definition at line 69 of file onLineGraspInterface.cpp.
| GraspPlanningState * OnLineGraspInterface::updateHand | ( | const std::list< GraspPlanningState * > * | solutionList | ) |
Given a list of f-c grasps, this function chooses one and shapes the finger of the hand accordingly. It is assumed that the list has been pre-sorted in order of "desirability".
Definition at line 104 of file onLineGraspInterface.cpp.
| void OnLineGraspInterface::useRealBarrettHand | ( | bool | s | ) |
Definition at line 46 of file onLineGraspInterface.cpp.
ActionType OnLineGraspInterface::mAction [private] |
Definition at line 58 of file onLineGraspInterface.h.
BarrettHand* OnLineGraspInterface::mBarrettHand [private] |
When using a real Barrett hand this is the communicator with it.
Definition at line 61 of file onLineGraspInterface.h.
Hand* OnLineGraspInterface::mHand [private] |
Definition at line 59 of file onLineGraspInterface.h.
