Holds shared pointers to the prototype ICR::Grasp and previously computed ICR::SearchZones; checks the contact points on the target object's surface for inclusion in the independent regions. More...

#include <independent_contact_regions.h>

Public Member Functions
void	clear ()
void	computeICR ()
ContactRegion const *	getContactRegion (uint id) const
const GraspPtr	getGrasp () const
GraspPtr	getGrasp ()
uint	getNumContactRegions () const
const SearchZonesPtr	getSearchZones () const
bool	hasInitializedGrasp ()
	True if exists pointer to an initialized grasp ICR::Grasp::init()
bool	icrComputed () const
	IndependentContactRegions ()
	IndependentContactRegions (const SearchZonesPtr search_zones, const GraspPtr grasp)
	IndependentContactRegions (IndependentContactRegions const &src)
	NOTE: Performes shallow copy of icr.
IndependentContactRegions &	operator= (IndependentContactRegions const &src)
	NOTE: Performes shallow copy of icr.
void	setGrasp (GraspPtr g_in)
	Sets new grasp for this icr. Clears previously calculated regions.
void	setSearchZones (SearchZonesPtr sz_in)
	Sets new search zones for this icr. Clears previously calculated regions.
	~IndependentContactRegions ()
Private Member Functions
void	computeContactRegion (uint region_id)
bool	primitiveSearchZoneInclusionTest (PrimitiveSearchZone prim_sz, WrenchCone const wc) const
bool	searchZoneInclusionTest (uint region_id, Patch const *patch) const
Private Attributes
std::vector< ContactRegion * >	contact_regions_
GraspPtr	grasp_
bool	icr_computed_
uint	num_contact_regions_
SearchZonesPtr	search_zones_
Friends
std::ostream &	operator<< (std::ostream &stream, IndependentContactRegions const &icr)

Detailed Description

Holds shared pointers to the prototype ICR::Grasp and previously computed ICR::SearchZones; checks the contact points on the target object's surface for inclusion in the independent regions.

Definition at line 17 of file independent_contact_regions.h.

Constructor & Destructor Documentation

ICR::IndependentContactRegions::IndependentContactRegions ( )

Definition at line 16 of file independent_contact_regions.cpp.

ICR::IndependentContactRegions::IndependentContactRegions	(	const SearchZonesPtr	search_zones,
		const GraspPtr	grasp
	)

Definition at line 20 of file independent_contact_regions.cpp.

ICR::IndependentContactRegions::IndependentContactRegions ( IndependentContactRegions const & src )

NOTE: Performes shallow copy of icr.

Definition at line 31 of file independent_contact_regions.cpp.

ICR::IndependentContactRegions::~IndependentContactRegions ( )

Definition at line 74 of file independent_contact_regions.cpp.

Member Function Documentation

void ICR::IndependentContactRegions::clear ( )

Definition at line 76 of file independent_contact_regions.cpp.

void ICR::IndependentContactRegions::computeContactRegion ( uint region_id ) [private]

Definition at line 138 of file independent_contact_regions.cpp.

void ICR::IndependentContactRegions::computeICR ( )

Definition at line 170 of file independent_contact_regions.cpp.

ContactRegion const * ICR::IndependentContactRegions::getContactRegion ( uint id ) const

Definition at line 207 of file independent_contact_regions.cpp.

const GraspPtr ICR::IndependentContactRegions::getGrasp ( ) const [inline]

Definition at line 52 of file independent_contact_regions.h.

GraspPtr ICR::IndependentContactRegions::getGrasp ( ) [inline]

Definition at line 53 of file independent_contact_regions.h.

uint ICR::IndependentContactRegions::getNumContactRegions ( ) const

Definition at line 209 of file independent_contact_regions.cpp.

const SearchZonesPtr ICR::IndependentContactRegions::getSearchZones ( ) const

Definition at line 211 of file independent_contact_regions.cpp.

bool ICR::IndependentContactRegions::hasInitializedGrasp ( )

True if exists pointer to an initialized grasp ICR::Grasp::init()

Definition at line 225 of file independent_contact_regions.cpp.

bool ICR::IndependentContactRegions::icrComputed ( ) const

Definition at line 205 of file independent_contact_regions.cpp.

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

NOTE: Performes shallow copy of icr.

Definition at line 38 of file independent_contact_regions.cpp.

bool ICR::IndependentContactRegions::primitiveSearchZoneInclusionTest	(	PrimitiveSearchZone *	prim_sz,
		WrenchCone const *	wc
	)		const `[private]`

Returns true if at least one of the primitive wrenches in wc is contained in the exterior half-space of each hyperplane defined by prim_sz; Here, an exterior half-space of a hyperplane is the half-space which does not contain the origin;

Definition at line 87 of file independent_contact_regions.cpp.