Provides methods to generate contacts for GraspIt! including an interative viewer. More...

#include <ContactsGenerator.h>

Inheritance diagram for urdf2graspit::ContactsGenerator:

Classes
class	Contact
	Helper class to encapsulate contact information. More...
Public Member Functions
	ContactsGenerator (UrdfTraverserPtr &traverser, float _scaleFactor=1000)
bool	generateContacts (const std::vector< std::string > &rootFingerJoints, const std::string &palmLinkName, const float coefficient, const markerselector::MarkerSelector::MarkerMap &markers, const std::vector< DHParam > &dh)
bool	generateContactsWithViewer (const std::vector< std::string > &fingerRoots, const std::string &palmLinkName, float standard_coefficient, const std::vector< DHParam > &dh, bool _displayAxes, bool _axesFromDH, float _axesRadius, float _axesLength, const EigenTransform &addVisualTransform, bool facesCCW)
std::string	getContactsFileContent (const std::string &robotName)
	~ContactsGenerator ()
Protected Types
typedef baselib_binding::shared_ptr < Contact >::type	ContactPtr
Protected Member Functions
void	applyTransformToContacts (LinkPtr &link, const EigenTransform &trans, bool preMult)
SoNode *	getAxesAsInventor (const LinkPtr &from_link, const std::vector< DHParam > &dh, float _axesRadius, float _axesLength, bool linkIsRoot)
bool	transformToDHReferenceFrames (const std::vector< DHParam > &dh)
Static Protected Member Functions
static bool	getDHParam (const std::string jointName, const std::vector< DHParam > &dh, DHParam &jointDH)
Private Member Functions
bool	generateContactsForallVisuals (const std::string &linkName, const int linkNum, const int fingerNum, const float coefficient, const std::vector< markerselector::MarkerSelector::Marker > &markers)
void	scaleContacts (double scale_factor)
Private Attributes
std::vector< ContactPtr >	contacts
bool	isContactsScaled
std::map< std::string, std::vector< ContactPtr > >	linkContacts

Detailed Description

Provides methods to generate contacts for GraspIt! including an interative viewer.

Date:: March 2016

Author:: Jennifer Buehler

Definition at line 53 of file ContactsGenerator.h.

Member Typedef Documentation

typedef baselib_binding::shared_ptr<Contact>::type urdf2graspit::ContactsGenerator::ContactPtr [protected]

Definition at line 153 of file ContactsGenerator.h.

Constructor & Destructor Documentation

urdf2graspit::ContactsGenerator::ContactsGenerator	(	UrdfTraverserPtr &	traverser,
		float	_scaleFactor = `1000`
	)		`[inline, explicit]`

Parameters:

_scaleFactor the graspit model might have to be scaled (the urdf model is in meters, graspit! in millimeters). This can be specified with this scale factor.

Definition at line 60 of file ContactsGenerator.h.

urdf2graspit::ContactsGenerator::~ContactsGenerator ( ) [inline]

Definition at line 66 of file ContactsGenerator.h.

Member Function Documentation

void ContactsGenerator::applyTransformToContacts	(	LinkPtr &	link,
		const EigenTransform &	trans,
		bool	preMult
	)		`[protected]`

Definition at line 75 of file ContactsGenerator.cpp.

bool ContactsGenerator::generateContacts	(	const std::vector< std::string > &	rootFingerJoints,
		const std::string &	palmLinkName,
		const float	coefficient,
		const markerselector::MarkerSelector::MarkerMap &	markers,
		const std::vector< DHParam > &	dh
	)

Generates contacts file out of the markers defined in the map. This function is provided in case the markers information is obtained in a user-defined way. For an interactive marker generation, use function generateContactsWithViewer(). After contacts have been generated, they will be put into DH-space specified in dh.

**Careful**: This function will join fixed links in the loaded URDF, and will also change all rotation axes to be the z axis

Parameters:

markers	a map with the markers.
coefficient	Contact friction coefficient

Definition at line 209 of file ContactsGenerator.cpp.

bool ContactsGenerator::generateContactsForallVisuals	(	const std::string &	linkName,
		const int	linkNum,
		const int	fingerNum,
		const float	coefficient,
		const std::vector< markerselector::MarkerSelector::Marker > &	markers
	)		`[private]`

Definition at line 111 of file ContactsGenerator.cpp.

bool ContactsGenerator::generateContactsWithViewer	(	const std::vector< std::string > &	fingerRoots,
		const std::string &	palmLinkName,
		float	standard_coefficient,
		const std::vector< DHParam > &	dh,
		bool	_displayAxes,
		bool	_axesFromDH,
		float	_axesRadius,
		float	_axesLength,
		const EigenTransform &	addVisualTransform,
		bool	facesCCW
	)

Starts a viewer in which the user may select contact points to be defined for the hand. The function generateContacts() is then called so that contacts are defined for the model.

Parameters:

_displayAxes	add the local coordinate system axes of the links to the inventor nodes to display. z axis is displayed blue, y axis green, x axis red.
_axesFromDH	if true, then _displayAxes will display the DH reference frame axes, otherwise it will be the link reference frames in URDF.
_axesRadius	radius of the axes, if _addAxes is true
_axesLength	length of the axes, if _addAxes is true
addVisualTransform	this transform will be post-multiplied on all links' visuals (not links!) local transform (their "origin"). This can be used to correct transformation errors which may have been introduced in converting meshes from one format to the other, losing orientation information (for example, .dae has an "up vector" definition which may have been ignored)
facesCCW	the faces in the model are ordered counter-clockwise (true should be default)

Definition at line 472 of file ContactsGenerator.cpp.

SoNode * ContactsGenerator::getAxesAsInventor	(	const LinkPtr &	from_link,
		const std::vector< DHParam > &	dh,
		float	_axesRadius,
		float	_axesLength,
		bool	linkIsRoot
	)		`[protected]`

Definition at line 389 of file ContactsGenerator.cpp.

std::string ContactsGenerator::getContactsFileContent ( const std::string & robotName )

Writes the file for the contacts. Will only work after generateContacts() has been called.

Definition at line 304 of file ContactsGenerator.cpp.

bool ContactsGenerator::getDHParam	(	const std::string	jointName,
		const std::vector< DHParam > &	dh,
		DHParam &	jointDH
	)		`[static, protected]`

Definition at line 459 of file ContactsGenerator.cpp.

void ContactsGenerator::scaleContacts ( double scale_factor ) [private]

scales the contacts by given factor

Definition at line 96 of file ContactsGenerator.cpp.

bool ContactsGenerator::transformToDHReferenceFrames ( const std::vector< DHParam > & dh ) [protected]

Definition at line 44 of file ContactsGenerator.cpp.

Member Data Documentation

std::vector<ContactPtr> urdf2graspit::ContactsGenerator::contacts [private]

Definition at line 180 of file ContactsGenerator.h.

bool urdf2graspit::ContactsGenerator::isContactsScaled [private]

Definition at line 178 of file ContactsGenerator.h.

std::map<std::string, std::vector<ContactPtr> > urdf2graspit::ContactsGenerator::linkContacts [private]

Definition at line 181 of file ContactsGenerator.h.

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

Classes

Public Member Functions

Protected Types

Protected Member Functions

Static Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation