Handle Class Reference

Handle data structure. More...

#include <handle.h>

List of all members.

Public Member Functions
const Eigen::Vector3d &	getApproach () const
	Return the handle's approach vector.
const Eigen::Vector3d &	getAxis () const
	Return the handle's axis.
const Eigen::Vector3d &	getBinormal () const
const Eigen::Vector3d &	getCenter () const
	Return the centroid of the handle.
const std::vector < GraspHypothesis > &	getHandList () const
	Return the list of grasp hypotheses.
const Eigen::Vector3d &	getHandsCenter () const
	Return the handle's grasp surface position.
const std::vector< int > &	getInliers () const
	Return the list of indices of grasp hypotheses that are part of the handle.
double	getWidth () const
	Return the width of the object contained in the handle grasp.
	Handle (const std::vector< GraspHypothesis > &hand_list, const std::vector< int > &inliers)
	Constructor.
Private Member Functions
void	setAxis ()
	Set the hand axis of the grasp.
void	setDistAlongHandle ()
	Set the distance along the handle's axis for each grasp hypothesis.
void	setGraspVariables ()
	Set the variables of the grasp.
void	setGraspWidth ()
	Set the width of the object contained in the handle grasp.
Private Attributes
Eigen::Vector3d	approach_
	the approach vector of the "average" grasp
Eigen::Vector3d	axis_
	the hand axis of the "average" grasp
Eigen::Vector3d	binormal_
	the binormal vector of the "average" grasp
Eigen::Vector3d	center_
	the center of the "average" grasp
Eigen::VectorXd	dist_along_handle_
	the 1xn vector of distances along the handle's axis for each grasp hypothesis
std::vector< GraspHypothesis >	hand_list_
	the list of grasp hypotheses
Eigen::Vector3d	hands_center_
	the center of the "average" grasp projected onto the back of the hand
std::vector< int >	inliers_
	the list of indices of grasp hypotheses that are part of the handle
double	width_
	the width of the object contained in the "average" grasp

---

Detailed Description

Handle data structure.

HandleSearch class

This class stores a single handle. The handle represents (a) a list of grasp hypotheses that are part of the handle, and (b) a grasp that is an "average" grasp over these grasp hypotheses.

Definition at line 49 of file handle.h.

---

Constructor & Destructor Documentation

Handle::Handle	(	const std::vector< GraspHypothesis > &	hand_list,
		const std::vector< int > &	inliers
	)

Constructor.

Parameters:

hand_list	the list of grasp hypotheses
indices	the list of indices of grasp hypotheses that are part of the handle

Definition at line 3 of file handle.cpp.

---

Member Function Documentation

const Eigen::Vector3d& Handle::getApproach

(

)

const [inline]

Return the handle's approach vector.

Returns:

the 3x1 handle approach vector

Definition at line 64 of file handle.h.

const Eigen::Vector3d& Handle::getAxis

(

)

const [inline]

Return the handle's axis.

Returns:

the 3x1 handle axis

Definition at line 73 of file handle.h.

const Eigen::Vector3d& Handle::getBinormal

(

)

const [inline]

Definition at line 123 of file handle.h.

const Eigen::Vector3d& Handle::getCenter

(

)

const [inline]

Return the centroid of the handle.

Returns:

the 3x1 handle centroid

Definition at line 82 of file handle.h.

const std::vector<GraspHypothesis>& Handle::getHandList

(

)

const [inline]

Return the list of grasp hypotheses.

Returns:

the list of grasp hypotheses

Definition at line 109 of file handle.h.

const Eigen::Vector3d& Handle::getHandsCenter

(

)

const [inline]

Return the handle's grasp surface position.

Returns:

the 3x1 grasp position

Definition at line 91 of file handle.h.

const std::vector<int>& Handle::getInliers

(

)

const [inline]

Return the list of indices of grasp hypotheses that are part of the handle.

Returns:

the list of indices of grasp hypotheses that are part of the handle

Definition at line 118 of file handle.h.

double Handle::getWidth

(

)

const [inline]

Return the width of the object contained in the handle grasp.

Returns:

the width of the contained object

Definition at line 100 of file handle.h.

void Handle::setAxis

(

)

[private]

Set the hand axis of the grasp.

Definition at line 12 of file handle.cpp.

void Handle::setDistAlongHandle

(

)

[private]

Set the distance along the handle's axis for each grasp hypothesis.

Definition at line 28 of file handle.cpp.

void Handle::setGraspVariables

(

)

[private]

Set the variables of the grasp.

Definition at line 38 of file handle.cpp.

void Handle::setGraspWidth

(

)

[private]

Set the width of the object contained in the handle grasp.

Definition at line 65 of file handle.cpp.

---

Member Data Documentation

Eigen::Vector3d Handle::approach_ [private]

the approach vector of the "average" grasp

Definition at line 153 of file handle.h.

Eigen::Vector3d Handle::axis_ [private]

the hand axis of the "average" grasp

Definition at line 152 of file handle.h.

Eigen::Vector3d Handle::binormal_ [private]

the binormal vector of the "average" grasp

Definition at line 154 of file handle.h.

Eigen::Vector3d Handle::center_ [private]

the center of the "average" grasp

Definition at line 151 of file handle.h.

Eigen::VectorXd Handle::dist_along_handle_ [private]

the 1xn vector of distances along the handle's axis for each grasp hypothesis

Definition at line 157 of file handle.h.

std::vector<GraspHypothesis> Handle::hand_list_ [private]

the list of grasp hypotheses

Definition at line 150 of file handle.h.

Eigen::Vector3d Handle::hands_center_ [private]

the center of the "average" grasp projected onto the back of the hand

Definition at line 156 of file handle.h.

std::vector<int> Handle::inliers_ [private]

the list of indices of grasp hypotheses that are part of the handle

Definition at line 149 of file handle.h.

double Handle::width_ [private]

the width of the object contained in the "average" grasp

Definition at line 155 of file handle.h.

---

The documentation for this class was generated from the following files:

• handle.h
• handle.cpp