plannedGrasp Class Reference

This class represents a single candidate grasp for the grasp planner. More...

#include <grasp_grasps.h>

List of all members.

Public Member Functions
double	distanceTo (plannedGrasp) const
finalGraspPosition	get_finalGraspPosition () const
cartesian_coordinates	get_fixedFingerDirection () const
GraspableBody *	get_graspableBody () const
cartesianGraspDirection	get_graspDirection () const
grasp_representation *	get_graspRepresentation () const
preshape	get_preshape () const
double	get_quality () const
	plannedGrasp (cartesianGraspDirection)
	plannedGrasp (const plannedGrasp &)
	plannedGrasp ()
void	remove_graspRepresentation ()
void	set_finalGraspPosition (finalGraspPosition)
void	set_fixedFingerDirection (cartesian_coordinates)
void	set_graspableBody (GraspableBody *)
void	set_graspDirection (cartesianGraspDirection)
void	set_graspRepresentation (grasp_representation *)
void	set_preshape (preshape in)
void	set_quality (double)
	~plannedGrasp ()
Private Attributes
finalGraspPosition	finalGPos
	Stores the final grasp position (after testing).
cartesian_coordinates	fixedFingerDirection
	Direction of the thumb.
grasp_representation *	myCP
	Pointer to the associated grasp visualization.
GraspableBody *	myGraspableBody
	Pointer to the grasped object.
cartesianGraspDirection	myGraspDir
	Grasp direction includes a point and a direction.
preshape	myPreshape
	The grasp preshape.
double	myQuality
	This grasp's quality as evaluated by the tester.

---

Detailed Description

This class represents a single candidate grasp for the grasp planner.

It holds a grasp direction, consisting of an initial world position and palm approach vector, a thumb direction, and a grasp preshape. After the tester moves the hand along this approach vector, closes the fingers and evaluates the grasp, the quality and final grasp position are recorded in this class as well. This class also has a pointer to the associated grasp_representation

Definition at line 89 of file grasp_grasps.h.

---

Constructor & Destructor Documentation

plannedGrasp::plannedGrasp

(

)

Initializes an empty planned grasp

Definition at line 74 of file grasp_grasps.cpp.

plannedGrasp::plannedGrasp

(

const plannedGrasp &

in

)

Copies the values from plannedGrasp in.

Definition at line 85 of file grasp_grasps.cpp.

plannedGrasp::plannedGrasp

(

cartesianGraspDirection

in

)

Initializes a plannedGrasp with a given grasp direction in .

Definition at line 98 of file grasp_grasps.cpp.

plannedGrasp::~plannedGrasp

(

)

Deletes the grasp's visual representation if neccessary.

Definition at line 108 of file grasp_grasps.cpp.

---

Member Function Documentation

double plannedGrasp::distanceTo

(

plannedGrasp

to

)

const

Computes a weighted distance measure between the current planned grasp and the grasp to .

Definition at line 118 of file grasp_grasps.cpp.

finalGraspPosition plannedGrasp::get_finalGraspPosition

(

)

const

Returns the final grasp position (after testing).

Definition at line 167 of file grasp_grasps.cpp.

cartesian_coordinates plannedGrasp::get_fixedFingerDirection

(

)

const

Returns the thumb direction.

Definition at line 150 of file grasp_grasps.cpp.

GraspableBody * plannedGrasp::get_graspableBody

(

)

const

Returns a pointer to the grasped object.

Definition at line 228 of file grasp_grasps.cpp.

cartesianGraspDirection plannedGrasp::get_graspDirection

(

)

const

Returns the current grasp direction.

Definition at line 130 of file grasp_grasps.cpp.

grasp_representation * plannedGrasp::get_graspRepresentation

(

)

const

Returns a pointer to the grasp representation for this grasp.

Definition at line 245 of file grasp_grasps.cpp.

preshape plannedGrasp::get_preshape

(

)

const

Returns the grasp preshape used for this grasp.

Definition at line 212 of file grasp_grasps.cpp.

double plannedGrasp::get_quality

(

)

const

Returns the quality of this grasp.

Definition at line 195 of file grasp_grasps.cpp.

void plannedGrasp::remove_graspRepresentation

(

)

Deletes the grasp representation associated with this grasp.

Definition at line 262 of file grasp_grasps.cpp.

void plannedGrasp::set_finalGraspPosition

(

finalGraspPosition

in

)

Sets the final grasp position.

Definition at line 175 of file grasp_grasps.cpp.

void plannedGrasp::set_fixedFingerDirection

(

cartesian_coordinates

in

)

Sets the thumb direction.

Definition at line 158 of file grasp_grasps.cpp.

void plannedGrasp::set_graspableBody

(

GraspableBody *

gb

)

Sets the object associated with this grasp.

Definition at line 236 of file grasp_grasps.cpp.

void plannedGrasp::set_graspDirection

(

cartesianGraspDirection

in

)

Copies the current grasp direction from in .

Definition at line 138 of file grasp_grasps.cpp.

void plannedGrasp::set_graspRepresentation

(

grasp_representation *

gr

)

Sets the grasp representation that is associated with this grasp.

Definition at line 253 of file grasp_grasps.cpp.

void plannedGrasp::set_preshape

(

preshape

in

)

Sets the grasp preshape to be used for this grasp.

Definition at line 220 of file grasp_grasps.cpp.

void plannedGrasp::set_quality

(

double

in

)

Sets the quality of this grasp after it has been evaluated.

Definition at line 203 of file grasp_grasps.cpp.

---

Member Data Documentation

finalGraspPosition plannedGrasp::finalGPos [private]

Stores the final grasp position (after testing).

Definition at line 99 of file grasp_grasps.h.

cartesian_coordinates plannedGrasp::fixedFingerDirection [private]

Direction of the thumb.

Definition at line 96 of file grasp_grasps.h.

grasp_representation* plannedGrasp::myCP [private]

Pointer to the associated grasp visualization.

Definition at line 114 of file grasp_grasps.h.

GraspableBody* plannedGrasp::myGraspableBody [private]

Pointer to the grasped object.

Definition at line 111 of file grasp_grasps.h.

cartesianGraspDirection plannedGrasp::myGraspDir [private]

Grasp direction includes a point and a direction.

Definition at line 93 of file grasp_grasps.h.

preshape plannedGrasp::myPreshape [private]

The grasp preshape.

Definition at line 108 of file grasp_grasps.h.

double plannedGrasp::myQuality [private]

This grasp's quality as evaluated by the tester.

Definition at line 105 of file grasp_grasps.h.

---

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

• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/Planner/grasp_grasps.h
• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/Planner/grasp_grasps.cpp