probabilistic_grasp_planner::PerturbationGraspRetriever Class Reference

#include <grasp_retriever.h>

Inheritance diagram for probabilistic_grasp_planner::PerturbationGraspRetriever:

[legend]

List of all members.

Public Member Functions
void	getGrasps (std::vector< GraspWithMetadata > &grasps)
	PerturbationGraspRetriever (ObjectsDatabasePtr database, const household_objects_database_msgs::DatabaseModelPose &model, const std::string &arm_name)
void	setGrasp (const GraspWithMetadata *gstar)
Protected Member Functions
virtual void	fetchFromDB ()
Protected Attributes
std::vector < DatabasePerturbationPtr >	perturbations_
Private Attributes
const GraspWithMetadata *	gstar_

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Detailed Description

Given a grasp, this gets all of the precomputed perturbations of this grasp from the database

Definition at line 168 of file grasp_retriever.h.

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Constructor & Destructor Documentation

probabilistic_grasp_planner::PerturbationGraspRetriever::PerturbationGraspRetriever	(	ObjectsDatabasePtr	database,
		const household_objects_database_msgs::DatabaseModelPose &	model,
		const std::string &	arm_name
	)

Definition at line 289 of file grasp_retriever.cpp.

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Member Function Documentation

void probabilistic_grasp_planner::PerturbationGraspRetriever::fetchFromDB

(

)

[protected, virtual]

Reimplemented from probabilistic_grasp_planner::DatabaseGraspRetriever.

Definition at line 298 of file grasp_retriever.cpp.

void probabilistic_grasp_planner::PerturbationGraspRetriever::getGrasps

(

std::vector< GraspWithMetadata > &

grasps

)

[virtual]

Given a list of models, retrieves all of the cluster representative grasps for those models and stores them with their metadata in the grasps vector.

TODO: make this not hardcoded

TODO: check all this

TODO: add correct pose from deltas

Reimplemented from probabilistic_grasp_planner::DatabaseGraspRetriever.

Definition at line 308 of file grasp_retriever.cpp.

void probabilistic_grasp_planner::PerturbationGraspRetriever::setGrasp

(

const GraspWithMetadata *

gstar

)

[inline]

Definition at line 179 of file grasp_retriever.h.

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Member Data Documentation

const GraspWithMetadata* probabilistic_grasp_planner::PerturbationGraspRetriever::gstar_ [private]

Definition at line 171 of file grasp_retriever.h.

std::vector<DatabasePerturbationPtr> probabilistic_grasp_planner::PerturbationGraspRetriever::perturbations_ [protected]

Definition at line 173 of file grasp_retriever.h.

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

• grasp_retriever.h
• grasp_retriever.cpp