CylindricalShell Class Reference

CylindricalShell represents a cylindrical shell that consists of two colinear cylinders. A shell consists of an inner and an outer cylinder. The portion of the object to be grasped must fit inside the inner cylinder, and the radius of that cylinder must be no larger than the maximum hand aperture. The gap between the inner and outer cylinder must be free of obstacles and wide enough to be able to contain the robot fingers. More...

#include <cylindrical_shell.h>

Public Member Functions
void	fitCylinder (const PointCloud::Ptr &cloud, const std::vector< int > &indices, const Eigen::Vector3d &normal, const Eigen::Vector3d &curvature_axis)
	Fit a cylinder to a set of points in the cloud, using their indices, and the normal and the curvature axis given by the quadric fitting (see curvature_estimation_taubin.h). The fitted cylinder is the inner cylinder of the cylindrical shell. More...
Eigen::Vector3d	getCentroid () const
	Get the centroid of the cylindrical shell. More...
Eigen::Vector3d	getCurvatureAxis () const
	Get the curvature axis of the cylindrical shell. More...
double	getExtent () const
	Get the extent of the cylindrical shell. More...
int	getNeighborhoodCentroidIndex () const
	Get the index of the centroid of the neighborhood associated with the cylindrical shell. More...
Eigen::Vector3d	getNormal () const
	Get the normal axis of the cylindrical shell. More...
double	getRadius () const
	Get the radius of the cylindrical shell. More...
bool	hasClearance (const PointCloud::Ptr &cloud, const std::vector< int > &nn_indices, double maxHandAperture, double handleGap)
	Check whether the gap between the inner and outer cylinder of the shell is free of obstacles and wide enough to be able to contain the robot fingers. More...
void	setExtent (double extent)
	Set the extent of the cylindrical shell. More...
void	setNeighborhoodCentroidIndex (int index)
	Set the index of the centroid of the neighborhood associated with the cylindrical shell. More...

Private Attributes
Eigen::Vector3d	centroid
Eigen::Vector3d	curvature_axis
double	extent
int	neighborhood_centroid_index
Eigen::Vector3d	normal
double	radius

Detailed Description

CylindricalShell represents a cylindrical shell that consists of two colinear cylinders. A shell consists of an inner and an outer cylinder. The portion of the object to be grasped must fit inside the inner cylinder, and the radius of that cylinder must be no larger than the maximum hand aperture. The gap between the inner and outer cylinder must be free of obstacles and wide enough to be able to contain the robot fingers.

Author

Andreas ten Pas

Definition at line 49 of file cylindrical_shell.h.

Member Function Documentation

void CylindricalShell::fitCylinder	(	const PointCloud::Ptr &	cloud,
		const std::vector< int > &	indices,
		const Eigen::Vector3d &	normal,
		const Eigen::Vector3d &	curvature_axis
	)

Fit a cylinder to a set of points in the cloud, using their indices, and the normal and the curvature axis given by the quadric fitting (see curvature_estimation_taubin.h). The fitted cylinder is the inner cylinder of the cylindrical shell.

Parameters

cloud	the point cloud
indices	the indices of the set of points in the cloud
normal	the normal given by quadric fitting
curvature_axis	the curvature axis given by quadric fitting

Definition at line 3 of file cylindrical_shell.cpp.

Eigen::Vector3d CylindricalShell::getCentroid ( ) const

inline

Get the centroid of the cylindrical shell.

Definition at line 121 of file cylindrical_shell.h.

Eigen::Vector3d CylindricalShell::getCurvatureAxis ( ) const

inline

Get the curvature axis of the cylindrical shell.

Definition at line 129 of file cylindrical_shell.h.

double CylindricalShell::getExtent ( ) const

inline

Get the extent of the cylindrical shell.

Definition at line 77 of file cylindrical_shell.h.

int CylindricalShell::getNeighborhoodCentroidIndex ( ) const

inline

Get the index of the centroid of the neighborhood associated with the cylindrical shell.

Definition at line 103 of file cylindrical_shell.h.

Eigen::Vector3d CylindricalShell::getNormal ( ) const

inline

Get the normal axis of the cylindrical shell.

Definition at line 137 of file cylindrical_shell.h.

double CylindricalShell::getRadius ( ) const

inline

Get the radius of the cylindrical shell.

Definition at line 94 of file cylindrical_shell.h.

bool CylindricalShell::hasClearance	(	const PointCloud::Ptr &	cloud,
		const std::vector< int > &	nn_indices,
		double	maxHandAperture,
		double	handleGap
	)

Check whether the gap between the inner and outer cylinder of the shell is free of obstacles and wide enough to be able to contain the robot fingers.

Parameters

cloud	the point cloud
maxHandAperture	the maximum robot hand aperture
handleGap	the required size of the gap around the handle

Definition at line 49 of file cylindrical_shell.cpp.

void CylindricalShell::setExtent ( double  extent )

inline

Set the extent of the cylindrical shell.

Parameters

extent

the extent

Definition at line 86 of file cylindrical_shell.h.

void CylindricalShell::setNeighborhoodCentroidIndex ( int  index )

inline

Set the index of the centroid of the neighborhood associated with the cylindrical shell.

Parameters

index

the index of the centroid

Definition at line 113 of file cylindrical_shell.h.

Member Data Documentation

Eigen::Vector3d CylindricalShell::centroid

private

Definition at line 141 of file cylindrical_shell.h.

Eigen::Vector3d CylindricalShell::curvature_axis

private

Definition at line 146 of file cylindrical_shell.h.

double CylindricalShell::extent

private

Definition at line 147 of file cylindrical_shell.h.

int CylindricalShell::neighborhood_centroid_index

private

Definition at line 150 of file cylindrical_shell.h.

Eigen::Vector3d CylindricalShell::normal

private

Definition at line 149 of file cylindrical_shell.h.

double CylindricalShell::radius

private

Definition at line 148 of file cylindrical_shell.h.

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

• cylindrical_shell.h
• cylindrical_shell.cpp