probabilistic_grasp_planner::PositionRobustGraspSuccessProbabilityComputer Class Reference

#include <grasp_success_probability_computer.h>

Inheritance diagram for probabilistic_grasp_planner::PositionRobustGraspSuccessProbabilityComputer:

[legend]

List of all members.

Public Member Functions
virtual double	getProbability (const GraspWithMetadata &grasp)
	PositionRobustGraspSuccessProbabilityComputer (ObjectsDatabasePtr database, const household_objects_database_msgs::DatabaseModelPose &model, GraspSuccessProbabilityComputerPtr success_probability_computer, shared_ptr< DistributionEvaluator > normal_evaluator, const std::string &arm_name)
Protected Attributes
shared_ptr< DistributionEvaluator >	normal_evaluator_
PerturbationGraspRetriever	perturbation_grasp_retriever_
GraspSuccessProbabilityComputerPtr	probability_computer_

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Detailed Description

Definition at line 143 of file grasp_success_probability_computer.h.

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Constructor & Destructor Documentation

probabilistic_grasp_planner::PositionRobustGraspSuccessProbabilityComputer::PositionRobustGraspSuccessProbabilityComputer	(	ObjectsDatabasePtr	database,
		const household_objects_database_msgs::DatabaseModelPose &	model,
		GraspSuccessProbabilityComputerPtr	success_probability_computer,
		shared_ptr< DistributionEvaluator >	normal_evaluator,
		const std::string &	arm_name
	)			[inline]

Definition at line 151 of file grasp_success_probability_computer.h.

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Member Function Documentation

double probabilistic_grasp_planner::PositionRobustGraspSuccessProbabilityComputer::getProbability

(

const GraspWithMetadata &

grasp

)

[virtual]

tell the retriever to only get perturbations for this grasp

get the perturbations

Implements probabilistic_grasp_planner::GraspSuccessProbabilityComputer.

Definition at line 111 of file grasp_success_probability_computer.cpp.

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Member Data Documentation

shared_ptr<DistributionEvaluator> probabilistic_grasp_planner::PositionRobustGraspSuccessProbabilityComputer::normal_evaluator_ [protected]

Definition at line 148 of file grasp_success_probability_computer.h.

PerturbationGraspRetriever probabilistic_grasp_planner::PositionRobustGraspSuccessProbabilityComputer::perturbation_grasp_retriever_ [protected]

Definition at line 146 of file grasp_success_probability_computer.h.

GraspSuccessProbabilityComputerPtr probabilistic_grasp_planner::PositionRobustGraspSuccessProbabilityComputer::probability_computer_ [protected]

Definition at line 147 of file grasp_success_probability_computer.h.

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

• grasp_success_probability_computer.h
• grasp_success_probability_computer.cpp