The central class of the icrcpp library; Holds a list of ICR::Finger and a ICR::DiscreteWrenchSpace describing the Grasp Wrench Space. More...

#include <grasp.h>

Public Member Functions
Finger const *	getFinger (uint id) const
DiscreteWrenchSpace const *	getGWS () const
uint	getNumFingers () const
const TargetObjectPtr	getParentObj () const
	Grasp ()
	Grasp (Grasp const &src)
void	init (FParamList const &f_param_list, const TargetObjectPtr obj, VectorXui const &centerpoint_ids)
bool	isInitialized () const
Grasp &	operator= (Grasp const &src)
void	setCenterPointId (uint finger_id, uint centerpoint_id)
void	setCenterPointIds (VectorXui const &centerpoint_ids)
	~Grasp ()
Private Member Functions
void	addFinger (FingerParameters const &param, uint centerpoint_id)
void	clear ()
void	computeGWS ()
OWSPtr	computeOWS (Finger const *new_finger)
PatchListPtr	computePatches (Finger *new_finger)
Private Attributes
std::vector< Finger * >	fingers_
DiscreteWrenchSpace *	gws_
bool	initialized_
uint	num_fingers_
uint	num_grasp_wrenches_
TargetObjectPtr	obj_
Friends
std::ostream &	operator<< (std::ostream &stream, Grasp const &grasp)

Detailed Description

The central class of the icrcpp library; Holds a list of ICR::Finger and a ICR::DiscreteWrenchSpace describing the Grasp Wrench Space.

Definition at line 20 of file grasp.h.

Constructor & Destructor Documentation

ICR::Grasp::Grasp ( )

Definition at line 11 of file grasp.cpp.

ICR::Grasp::Grasp ( Grasp const & src )

Definition at line 13 of file grasp.cpp.

ICR::Grasp::~Grasp ( )

Definition at line 40 of file grasp.cpp.

Member Function Documentation

void ICR::Grasp::addFinger	(	FingerParameters const &	param,
		uint	centerpoint_id
	)		`[private]`

Definition at line 130 of file grasp.cpp.

void ICR::Grasp::clear ( ) [private]

Definition at line 42 of file grasp.cpp.

void ICR::Grasp::computeGWS ( ) [private]

Definition at line 51 of file grasp.cpp.

OWSPtr ICR::Grasp::computeOWS ( Finger const * new_finger ) [private]

Definition at line 113 of file grasp.cpp.

PatchListPtr ICR::Grasp::computePatches ( Finger * new_finger ) [private]

Definition at line 74 of file grasp.cpp.

Finger const * ICR::Grasp::getFinger ( uint id ) const

Definition at line 141 of file grasp.cpp.

DiscreteWrenchSpace const * ICR::Grasp::getGWS ( ) const

Definition at line 203 of file grasp.cpp.

uint ICR::Grasp::getNumFingers ( ) const

Definition at line 143 of file grasp.cpp.

const TargetObjectPtr ICR::Grasp::getParentObj ( ) const

Definition at line 201 of file grasp.cpp.

void ICR::Grasp::init	(	FParamList const &	f_param_list,
		const TargetObjectPtr	obj,
		VectorXui const &	centerpoint_ids
	)

Cretes a list of Finger-pointers. A Finger holds a pointer to an Object Wrench Space and a pointer to a list of patches. OWS and patches are precomputed when the Finger's parent grasp is initialized. A separate OWS is computed for each finger with a different contact model, a separate list of patches is computed for each finger with a different inclusion rule. Fingers with the same contact model/inclusion rule hold pointers to the same OWS/patch list. The inclusion rule determines which vertices of the target object's mesh are eligible for inclusion in a patch centered around a given center-point. In case of the single-point contact model, each patch only contains its respective center-point. Also the Grasp Wrench Space is computed utilizing Qhull.

Definition at line 145 of file grasp.cpp.

bool ICR::Grasp::isInitialized ( ) const

Definition at line 199 of file grasp.cpp.

Grasp & ICR::Grasp::operator= ( Grasp const & src )

Definition at line 16 of file grasp.cpp.