Sampling Class Reference

Sampling localizes grasp affordances using importance sampling. More...

#include <sampling.h>

Public Member Functions
void	illustrate (const PointCloud::Ptr &cloud, double target_radius)
void	initParams (const ros::NodeHandle &node)
std::vector< CylindricalShell >	searchAffordances (const PointCloud::Ptr &cloud, double target_radius)
void	setAffordances (Affordances &affordances)

Private Attributes
Affordances	affordances
bool	is_visualized
int	method
int	num_init_samples
int	num_iterations
int	num_samples
double	prob_rand_samples

Static Private Attributes
static const int	METHOD = SUM
static const int	NUM_INIT_SAMPLES = 100
static const int	NUM_ITERATIONS = 10
static const int	NUM_SAMPLES = 100
static const double	PROB_RAND_SAMPLES = 0.2
static const bool	VISUALIZE_STEPS = false

Detailed Description

Sampling localizes grasp affordances using importance sampling.

Author

Andreas ten Pas

Definition at line 47 of file sampling.h.

Member Function Documentation

void Sampling::illustrate	(	const PointCloud::Ptr &	cloud,
		double	target_radius
	)

Illustrates the different sampling methods.

Parameters

cloud	the point cloud
cloudrgb	the colored point cloud
target_radius	the target radius

Definition at line 14 of file sampling.cpp.

void Sampling::initParams

(

const ros::NodeHandle &

node

)

Initializes the importance sampling parameters based on the parameters given by a ROS node.

Parameters

node	the ROS node

Definition at line 242 of file sampling.cpp.

std::vector< CylindricalShell > Sampling::searchAffordances	(	const PointCloud::Ptr &	cloud,
		double	target_radius
	)

Search affordances using importance sampling.

Parameters

cloud	the point cloud
cloudrgb	the colored point cloud
target_radius	the target radius

Definition at line 102 of file sampling.cpp.

void Sampling::setAffordances ( Affordances &  affordances )

inline

Definition at line 50 of file sampling.h.

Member Data Documentation

Affordances Sampling::affordances

private

Definition at line 83 of file sampling.h.

bool Sampling::is_visualized

private

Definition at line 88 of file sampling.h.

int Sampling::method

private

Definition at line 89 of file sampling.h.

const int Sampling::METHOD = SUM

staticprivate

Definition at line 97 of file sampling.h.

int Sampling::num_init_samples

private

Definition at line 86 of file sampling.h.

const int Sampling::NUM_INIT_SAMPLES = 100

staticprivate

Definition at line 94 of file sampling.h.

int Sampling::num_iterations

private

Definition at line 84 of file sampling.h.

const int Sampling::NUM_ITERATIONS = 10

staticprivate

Definition at line 92 of file sampling.h.

int Sampling::num_samples

private

Definition at line 85 of file sampling.h.

const int Sampling::NUM_SAMPLES = 100

staticprivate

Definition at line 93 of file sampling.h.

double Sampling::prob_rand_samples

private

Definition at line 87 of file sampling.h.

const double Sampling::PROB_RAND_SAMPLES = 0.2

staticprivate

Definition at line 95 of file sampling.h.

const bool Sampling::VISUALIZE_STEPS = false

staticprivate

Definition at line 96 of file sampling.h.

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

• sampling.h
• sampling.cpp