handle.h
Go to the documentation of this file.
00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2015, Andreas ten Pas
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *
00018  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00019  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00020  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00021  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00022  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00023  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00024  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00025  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00026  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00027  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00028  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00029  *  POSSIBILITY OF SUCH DAMAGE.
00030  */
00031 
00032 #ifndef HANDLE_H_
00033 #define HANDLE_H_
00034 
00035 #include <Eigen/Dense>
00036 #include <iostream>
00037 #include <vector>
00038 
00039 #include <agile_grasp/grasp_hypothesis.h>
00040 
00049 class Handle
00050 {
00051 public:
00052         
00058         Handle(const std::vector<GraspHypothesis>& hand_list, const std::vector<int>& inliers);
00059         
00064         const Eigen::Vector3d& getApproach() const
00065         {
00066                 return approach_;
00067         }
00068         
00073         const Eigen::Vector3d& getAxis() const
00074         {
00075                 return axis_;
00076         }
00077 
00082         const Eigen::Vector3d& getCenter() const
00083         {
00084                 return center_;
00085         }
00086         
00091         const Eigen::Vector3d& getHandsCenter() const
00092         {
00093                 return hands_center_;
00094         }
00095         
00100         double getWidth() const
00101         {
00102                 return width_;
00103         }
00104         
00109         const std::vector<GraspHypothesis>& getHandList() const
00110         {
00111                 return hand_list_;
00112         }
00113         
00118         const std::vector<int>& getInliers() const
00119         {
00120                 return inliers_;
00121         }
00122 
00123   const Eigen::Vector3d& getBinormal() const {
00124     return binormal_;
00125   }
00126 
00127 private:
00128         
00132         void setGraspVariables();
00133         
00137         void setAxis();
00138 
00142         void setDistAlongHandle();
00143         
00147         void setGraspWidth();
00148 
00149         std::vector<int> inliers_; 
00150         std::vector<GraspHypothesis> hand_list_; 
00151         Eigen::Vector3d center_; 
00152         Eigen::Vector3d axis_; 
00153         Eigen::Vector3d approach_; 
00154         Eigen::Vector3d binormal_; 
00155         double width_; 
00156         Eigen::Vector3d hands_center_; 
00157         Eigen::VectorXd dist_along_handle_; 
00158 };
00159 
00160 #endif /* HANDLE_H_ */


agile_grasp
Author(s): Andreas ten Pas
autogenerated on Sat Jun 8 2019 20:08:27