Grasp hypothesis data structure. More...
#include <grasp_hypothesis.h>
Public Member Functions | |
| const Eigen::Vector3d & | getApproach () const |
| Return the approach vector of the grasp. | |
| const Eigen::Vector3d & | getAxis () const |
| Return the hand axis of the grasp. | |
| const Eigen::Vector3d & | getBinormal () const |
| Return the binormal of the grasp. | |
| int | getCamSource () const |
| Return the camera source of the sample. | |
| const Eigen::Vector3d & | getGraspBottom () const |
| Return the grasp position between the end of the finger tips. | |
| const Eigen::Vector3d & | getGraspSurface () const |
| Return the grasp position between the end of the finger tips projected onto the back of the hand. | |
| double | getGraspWidth () const |
| Return the width of the object contained in the grasp. | |
| const std::vector< int > & | getIndicesPointsForLearningCam1 () const |
| Return the points used for training/prediction by the SVM. | |
| const std::vector< int > & | getIndicesPointsForLearningCam2 () const |
| Return the points used for training/prediction by the SVM that belong to camera #1. | |
| const Eigen::Matrix3Xd & | getPointsForLearning () const |
| Return the points used for training/prediction by the SVM that belong to camera #2. | |
| GraspHypothesis () | |
| Default constructor. | |
| GraspHypothesis (const Eigen::Vector3d &axis, const Eigen::Vector3d &approach, const Eigen::Vector3d &binormal, const Eigen::Vector3d &bottom, const Eigen::Vector3d &surface, double width, const Eigen::Matrix3Xd &points_for_learning, const std::vector< int > &indices_cam1, const std::vector< int > &indices_cam2, int cam_source) | |
| Constructor. | |
| bool | isFullAntipodal () const |
| Return whether the grasp is antipodal. | |
| bool | isHalfAntipodal () const |
| Return whether the grasp is indeterminate. | |
| void | print () |
| Print a description of the grasp hypothesis to the systen's standard output. | |
| void | setFullAntipodal (bool b) |
| Set whether the grasp is antipodal. | |
| void | setGraspWidth (double w) |
| Set the width of the object contained in the grasp. | |
| void | setHalfAntipodal (bool b) |
| Set whether the grasp is indeterminate. | |
Private Attributes | |
| Eigen::Vector3d | approach_ |
| the grasp approach vector (orthogonal to the hand axis) | |
| Eigen::Vector3d | axis_ |
| the hand axis | |
| Eigen::Vector3d | binormal_ |
| the binormal (orthogonal to the hand axis and the approach vector) | |
| int | cam_source_ |
| the camera source of the sample | |
| bool | full_antipodal_ |
| whether the grasp hypothesis is antipodal | |
| Eigen::Vector3d | grasp_bottom_ |
| the grasp position between the end of the finger tips | |
| Eigen::Vector3d | grasp_surface_ |
| the grasp position between the finger tips projected to the back of the hand | |
| double | grasp_width_ |
| the width of object enclosed by the fingers | |
| bool | half_antipodal_ |
| whether the grasp hypothesis is indeterminate | |
| std::vector< int > | indices_points_for_learning_cam1_ |
| the points used by the SVM for training/predictin that belong to camera #1 | |
| std::vector< int > | indices_points_for_learning_cam2_ |
| the points used by the SVM for training/predictin that belong to camera #2 | |
| Eigen::Matrix3Xd | points_for_learning_ |
| the points used by the SVM for training/predictin | |
Grasp hypothesis data structure.
GraspHypothesis class
This class stores a single grasp hypothesis.
Definition at line 46 of file grasp_hypothesis.h.
| GraspHypothesis::GraspHypothesis | ( | ) | [inline] |
Default constructor.
Definition at line 53 of file grasp_hypothesis.h.
| GraspHypothesis::GraspHypothesis | ( | const Eigen::Vector3d & | axis, |
| const Eigen::Vector3d & | approach, | ||
| const Eigen::Vector3d & | binormal, | ||
| const Eigen::Vector3d & | bottom, | ||
| const Eigen::Vector3d & | surface, | ||
| double | width, | ||
| const Eigen::Matrix3Xd & | points_for_learning, | ||
| const std::vector< int > & | indices_cam1, | ||
| const std::vector< int > & | indices_cam2, | ||
| int | cam_source | ||
| ) | [inline] |
Constructor.
| axis | the hand axis |
| approach | the grasp approach vector |
| binormal | the binormal |
| bottom | the position between the end of the finger tips |
| surface | the position between the end of the finger tips projected onto the back of the hand |
| points_for_learning | the points used by the SVM for training/predictin |
| indices_cam1 | the point indices that belong to camera #1 |
| indices_cam2 | the point indices that belong to camera #2 |
| cam_source | the camera source of the sample |
Definition at line 67 of file grasp_hypothesis.h.
| const Eigen::Vector3d& GraspHypothesis::getApproach | ( | ) | const [inline] |
Return the approach vector of the grasp.
Definition at line 86 of file grasp_hypothesis.h.
| const Eigen::Vector3d& GraspHypothesis::getAxis | ( | ) | const [inline] |
Return the hand axis of the grasp.
Definition at line 95 of file grasp_hypothesis.h.
| const Eigen::Vector3d& GraspHypothesis::getBinormal | ( | ) | const [inline] |
Return the binormal of the grasp.
Definition at line 104 of file grasp_hypothesis.h.
| int GraspHypothesis::getCamSource | ( | ) | const [inline] |
Return the camera source of the sample.
Definition at line 185 of file grasp_hypothesis.h.
| const Eigen::Vector3d& GraspHypothesis::getGraspBottom | ( | ) | const [inline] |
Return the grasp position between the end of the finger tips.
Definition at line 122 of file grasp_hypothesis.h.
| const Eigen::Vector3d& GraspHypothesis::getGraspSurface | ( | ) | const [inline] |
Return the grasp position between the end of the finger tips projected onto the back of the hand.
Definition at line 131 of file grasp_hypothesis.h.
| double GraspHypothesis::getGraspWidth | ( | ) | const [inline] |
Return the width of the object contained in the grasp.
Definition at line 140 of file grasp_hypothesis.h.
| const std::vector<int>& GraspHypothesis::getIndicesPointsForLearningCam1 | ( | ) | const [inline] |
Return the points used for training/prediction by the SVM.
Definition at line 158 of file grasp_hypothesis.h.
| const std::vector<int>& GraspHypothesis::getIndicesPointsForLearningCam2 | ( | ) | const [inline] |
Return the points used for training/prediction by the SVM that belong to camera #1.
Definition at line 167 of file grasp_hypothesis.h.
| const Eigen::Matrix3Xd& GraspHypothesis::getPointsForLearning | ( | ) | const [inline] |
Return the points used for training/prediction by the SVM that belong to camera #2.
Definition at line 176 of file grasp_hypothesis.h.
| bool GraspHypothesis::isFullAntipodal | ( | ) | const [inline] |
Return whether the grasp is antipodal.
Definition at line 113 of file grasp_hypothesis.h.
| bool GraspHypothesis::isHalfAntipodal | ( | ) | const [inline] |
Return whether the grasp is indeterminate.
Definition at line 149 of file grasp_hypothesis.h.
| void GraspHypothesis::print | ( | ) |
Print a description of the grasp hypothesis to the systen's standard output.
Definition at line 3 of file grasp_hypothesis.cpp.
| void GraspHypothesis::setFullAntipodal | ( | bool | b | ) | [inline] |
Set whether the grasp is antipodal.
| b | whether the grasp is antipodal |
Definition at line 194 of file grasp_hypothesis.h.
| void GraspHypothesis::setGraspWidth | ( | double | w | ) | [inline] |
Set the width of the object contained in the grasp.
| w | the width of the object contained in the grasp |
Definition at line 212 of file grasp_hypothesis.h.
| void GraspHypothesis::setHalfAntipodal | ( | bool | b | ) | [inline] |
Set whether the grasp is indeterminate.
| b | whether the grasp is indeterminate |
Definition at line 203 of file grasp_hypothesis.h.
Eigen::Vector3d GraspHypothesis::approach_ [private] |
the grasp approach vector (orthogonal to the hand axis)
Definition at line 224 of file grasp_hypothesis.h.
Eigen::Vector3d GraspHypothesis::axis_ [private] |
the hand axis
Definition at line 223 of file grasp_hypothesis.h.
Eigen::Vector3d GraspHypothesis::binormal_ [private] |
the binormal (orthogonal to the hand axis and the approach vector)
Definition at line 225 of file grasp_hypothesis.h.
int GraspHypothesis::cam_source_ [private] |
the camera source of the sample
Definition at line 219 of file grasp_hypothesis.h.
bool GraspHypothesis::full_antipodal_ [private] |
whether the grasp hypothesis is antipodal
Definition at line 229 of file grasp_hypothesis.h.
Eigen::Vector3d GraspHypothesis::grasp_bottom_ [private] |
the grasp position between the end of the finger tips
Definition at line 226 of file grasp_hypothesis.h.
Eigen::Vector3d GraspHypothesis::grasp_surface_ [private] |
the grasp position between the finger tips projected to the back of the hand
Definition at line 227 of file grasp_hypothesis.h.
double GraspHypothesis::grasp_width_ [private] |
the width of object enclosed by the fingers
Definition at line 228 of file grasp_hypothesis.h.
bool GraspHypothesis::half_antipodal_ [private] |
whether the grasp hypothesis is indeterminate
Definition at line 230 of file grasp_hypothesis.h.
std::vector<int> GraspHypothesis::indices_points_for_learning_cam1_ [private] |
the points used by the SVM for training/predictin that belong to camera #1
Definition at line 221 of file grasp_hypothesis.h.
std::vector<int> GraspHypothesis::indices_points_for_learning_cam2_ [private] |
the points used by the SVM for training/predictin that belong to camera #2
Definition at line 222 of file grasp_hypothesis.h.
Eigen::Matrix3Xd GraspHypothesis::points_for_learning_ [private] |
the points used by the SVM for training/predictin
Definition at line 220 of file grasp_hypothesis.h.