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SimpleGraspPlanner.h File Reference

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Classes

struct  CovariancePoint
struct  HandConfig
struct  HandConfList
struct  Point3D

Defines

#define MAX_TESTED_POSES   1000

Functions

HandConfList GetGraspList (Point3D *obstacle_list, CovariancePoint *obstacle_covs, int num, double offset_rot_z_side, double offset_ros_z_top)
HandConfig GetGraspLM (Point3D *obstacle_list, CovariancePoint *obstacle_covs, int num, double offset_rot_z_side, double offset_ros_z_top)
double getTableHeight ()
int InitSGP (Point3D *hand_points, int num, double table_z)
void setTableHeight (double table_z)
Point3D TransformPoint (Point3D hand, Point3D target, double alpha, double beta, double delta)

Define Documentation

#define MAX_TESTED_POSES   1000

Definition at line 62 of file SimpleGraspPlanner.h.


Function Documentation

HandConfList GetGraspList ( Point3D obstacle_list,
CovariancePoint obstacle_covs,
int  num,
double  offset_rot_z_side,
double  offset_ros_z_top 
)

Initialize hand_center

Initialize lists

Initialize search space + sampling

Consider Table collision

Initialize start score: careful for strange covariances, this value might be to low

generate configuration dependant hand points

Definition at line 340 of file SimpleGraspPlanner.c.

HandConfig GetGraspLM ( Point3D obstacle_list,
CovariancePoint obstacle_covs,
int  num,
double  offset_rot_z_side,
double  offset_ros_z_top 
)

Initialize hand_center

Initialize lists

Initialize search space + sampling

Consider Table collision

Initialize start score: careful for strange covariances, this value might be to low

generate configuration dependant hand points

Definition at line 202 of file SimpleGraspPlanner.c.

double getTableHeight (  ) 

Definition at line 83 of file SimpleGraspPlanner.c.

int InitSGP ( Point3D hand_points,
int  num,
double  table_z 
)

Initialize the hand configuration

Get biggest hand z (first collision coming from top with a table)

Get smallest hand y (first collision point with a table coming from the side)

Definition at line 52 of file SimpleGraspPlanner.c.

void setTableHeight ( double  table_z  ) 

Definition at line 77 of file SimpleGraspPlanner.c.

Point3D TransformPoint ( Point3D  hand,
Point3D  target,
double  alpha,
double  beta,
double  delta 
)

new poitions: Point P in object coordinates depending on the parameters alpha, beta and delta

Definition at line 187 of file SimpleGraspPlanner.c.

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simple_grasp_planner
Author(s): U. Klank
autogenerated on Mon Dec 3 22:01:50 2012