probabilistic_grasp_planner::SimpleGraspSuccessProbabilityComputer Class Reference

Returns a simple probability of success based on the grasp's energy score. More...

#include <grasp_success_probability_computer.h>

Inheritance diagram for probabilistic_grasp_planner::SimpleGraspSuccessProbabilityComputer:

Public Member Functions
virtual double	getProbability (const GraspWithMetadata &grasp)
	SimpleGraspSuccessProbabilityComputer (double model_id, double energy_threshold)
Private Attributes
double	energy_threshold_
	The threshold above which grasps have 0 probability of success.
int	model_id_
	The model id that the grasp's model_id will be compared to.

Detailed Description

Returns a simple probability of success based on the grasp's energy score.

Will return non-zero probability only if the grasp was originally computed on the same model that it is being queried for. In this case, it will still return 0 if the energy is above a given threshold, or linearly increasing if it is below that.

Definition at line 126 of file grasp_success_probability_computer.h.

Constructor & Destructor Documentation

probabilistic_grasp_planner::SimpleGraspSuccessProbabilityComputer::SimpleGraspSuccessProbabilityComputer	(	double	model_id,
		double	energy_threshold
	)			`[inline]`