Holds a std::vector of ICR::SearchZone pointers, one for each finger of the associated prototype grasp. More...

#include <search_zones.h>

Public Member Functions
void	computeShiftedSearchZones (double alpha)
	Creates ICR::SearchZones by shifting the hyperplanes described in ICR::SearchZones::hyperplane_normals_ and ICR::SearchZones::hyperplane_offsets_ until their are tangent to a contnous Task Wrench Space described by alpha.
const GraspPtr	getGrasp () const
Eigen::Matrix< double, Eigen::Dynamic, 6 > const *	getHyperplaneNormals () const
Eigen::VectorXd const *	getHyperplaneOffsets () const
uint	getNumSearchZones () const
SearchZone const *	getSearchZone (uint finger_id) const
WrenchSpace const *	getTWS () const
SearchZones &	operator= (SearchZones const &src)
void	resetSearchZones ()
	Empties the vectors ICR::PrimitiveSearchZone::satisfied_wc_ids_ of all primitive search zones; This is necessary when transferring search zones which were utilized to compute ICR for one object to a novel object; Note that its child function ICR::SearchZones::resetPrimitiveSearchZones is automatically called by ICR::IndependentContactRegions::computeContactRegion and thus doesn't need to be called explicitly;.
	SearchZones (const GraspPtr grasp)
	SearchZones (SearchZones const &src)
bool	searchZonesComputed () const
	~SearchZones ()
Private Member Functions
void	addShiftedPrimitiveSearchZone (uint finger_id, vertexT const *curr_vtx)
void	clear ()
void	computeShiftedHyperplanes (double alpha)
void	initializeSearchZones ()
void	resetPrimitiveSearchZones (uint sz_id)
	SearchZones ()
Private Attributes
GraspPtr	grasp_
Eigen::Matrix< double, Eigen::Dynamic, 6 >	hyperplane_normals_
Eigen::VectorXd	hyperplane_offsets_
RowVectorXui	map_vertex2finger_
uint	num_search_zones_
std::vector< SearchZone * >	search_zones_
bool	search_zones_computed_
WrenchSpace *	tws_
Friends
class	IndependentContactRegions
std::ostream &	operator<< (std::ostream &stream, SearchZones const &sz)

Detailed Description

Holds a std::vector of ICR::SearchZone pointers, one for each finger of the associated prototype grasp.

Definition at line 35 of file search_zones.h.

Constructor & Destructor Documentation

ICR::SearchZones::SearchZones ( ) [private]

Definition at line 26 of file search_zones.cpp.

ICR::SearchZones::SearchZones ( const GraspPtr grasp )

Definition at line 31 of file search_zones.cpp.

ICR::SearchZones::SearchZones ( SearchZones const & src )

Definition at line 37 of file search_zones.cpp.

ICR::SearchZones::~SearchZones ( )

Definition at line 67 of file search_zones.cpp.

Member Function Documentation

void ICR::SearchZones::addShiftedPrimitiveSearchZone	(	uint	finger_id,
		vertexT const *	curr_vtx
	)		`[private]`

Definition at line 95 of file search_zones.cpp.

void ICR::SearchZones::clear ( ) [private]

Definition at line 107 of file search_zones.cpp.

void ICR::SearchZones::computeShiftedHyperplanes ( double alpha ) [private]

Definition at line 75 of file search_zones.cpp.

void ICR::SearchZones::computeShiftedSearchZones ( double alpha )

Creates ICR::SearchZones by shifting the hyperplanes described in ICR::SearchZones::hyperplane_normals_ and ICR::SearchZones::hyperplane_offsets_ until their are tangent to a contnous Task Wrench Space described by alpha.

Definition at line 151 of file search_zones.cpp.

const GraspPtr ICR::SearchZones::getGrasp ( ) const

Definition at line 184 of file search_zones.cpp.

Eigen::Matrix< double, Eigen::Dynamic, 6 > const * ICR::SearchZones::getHyperplaneNormals ( ) const

Definition at line 180 of file search_zones.cpp.

Eigen::VectorXd const * ICR::SearchZones::getHyperplaneOffsets ( ) const

Definition at line 182 of file search_zones.cpp.

uint ICR::SearchZones::getNumSearchZones ( ) const

Definition at line 71 of file search_zones.cpp.

SearchZone const * ICR::SearchZones::getSearchZone ( uint finger_id ) const

Definition at line 69 of file search_zones.cpp.

WrenchSpace const * ICR::SearchZones::getTWS ( ) const

Definition at line 186 of file search_zones.cpp.

void ICR::SearchZones::initializeSearchZones ( ) [private]

Definition at line 124 of file search_zones.cpp.

SearchZones & ICR::SearchZones::operator= ( SearchZones const & src )

Definition at line 41 of file search_zones.cpp.

void ICR::SearchZones::resetPrimitiveSearchZones ( uint sz_id ) [private]

Definition at line 192 of file search_zones.cpp.

void ICR::SearchZones::resetSearchZones ( )

Empties the vectors ICR::PrimitiveSearchZone::satisfied_wc_ids_ of all primitive search zones; This is necessary when transferring search zones which were utilized to compute ICR for one object to a novel object; Note that its child function ICR::SearchZones::resetPrimitiveSearchZones is automatically called by ICR::IndependentContactRegions::computeContactRegion and thus doesn't need to be called explicitly;.

Definition at line 198 of file search_zones.cpp.

bool ICR::SearchZones::searchZonesComputed ( ) const

Definition at line 73 of file search_zones.cpp.