PositionStateEllipsoid Class Reference

Saves a hand position on a predefined ellipsoid; 4 variables and 3 parameters. More...

#include <searchStateImpl.h>

Inheritance diagram for PositionStateEllipsoid:

[legend]

List of all members.

Public Member Functions
transf	getCoreTran () const
	Get the transform set by the current values of the variables stored here.
StateType	getType () const
	PositionStateEllipsoid (const Hand *h)
void	setTran (const transf &t)
	Set the internal variables to match the given transform.
Protected Member Functions
void	createVariables ()
	Implementations of VariableSet that know what purpose they serve will implement this.

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Detailed Description

Saves a hand position on a predefined ellipsoid; 4 variables and 3 parameters.

The shape of the ellipsoid is determined by the parameters a, b and c. Uses 4 variables: beta, gama and tau determine a point on the ellipsoid, with the hand placed so that its pre-defined approach direction is normal to the ellipsoid. The fourth variable, dist, then moves the hand back and forth along the approach direction.

Definition at line 115 of file searchStateImpl.h.

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Constructor & Destructor Documentation

PositionStateEllipsoid::PositionStateEllipsoid

(

const Hand *

h

)

[inline]

Definition at line 120 of file searchStateImpl.h.

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Member Function Documentation

void PositionStateEllipsoid::createVariables

(

)

[protected, virtual]

Implementations of VariableSet that know what purpose they serve will implement this.

Implements VariableSet.

Definition at line 207 of file searchStateImpl.cpp.

transf PositionStateEllipsoid::getCoreTran

(

)

const [virtual]

Get the transform set by the current values of the variables stored here.

Implements PositionState.

Definition at line 219 of file searchStateImpl.cpp.

StateType PositionStateEllipsoid::getType

(

)

const [inline, virtual]

Implements VariableSet.

Definition at line 121 of file searchStateImpl.h.

void PositionStateEllipsoid::setTran

(

const transf &

t

)

[virtual]

Set the internal variables to match the given transform.

Not all implementations have this implemented correctly.

Implements PositionState.

Definition at line 250 of file searchStateImpl.cpp.

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

• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/EGPlanner/searchStateImpl.h
• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/EGPlanner/searchStateImpl.cpp