/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/Planner/grasp_directions.h File Reference

Defines the class GraspDirection , the palm position and approach vector for a candidate grasp (used in the grasp planner). More...

#include "grasp_coordinates.h"
#include "matvec3D.h"

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Classes
class	cartesianGraspDirection
	This class is used when the palm position and direction are expressed in cartesian coordinates. More...
class	cylindricalGraspDirection
	This class is used when the palm position and direction are expressed in cylindrical coordinates. More...
class	GraspDirection
	This is the parent class for the different types of grasp directions. More...
class	sphericalGraspDirection
	This class is used when the palm position and direction are expressed in spherical coordinates. More...
Enumerations
enum	graspDirectionType { GDT_CYL_SIDES, GDT_CYL_TOP_BOTTOM, GDT_CUBE_WIDTH, GDT_CUBE_HEIGHT, GDT_CUBE_DEPTH, GDT_SPH, GDT_CONE_TOP, GDT_CONE_BOTTOM, GDT_CONE_SIDE_PLANE, GDT_CONE_EDGE }

Detailed Description

Defines the class GraspDirection , the palm position and approach vector for a candidate grasp (used in the grasp planner).

Definition in file grasp_directions.h.

Enumerator:

Definition at line 40 of file grasp_directions.h.