Returns a simple probability of success based on the grasp's energy score. More...
#include <grasp_success_probability_computer.h>
Public Member Functions | |
| virtual double | getProbability (const GraspWithMetadata &grasp) |
| SimpleGraspSuccessProbabilityComputer (double model_id, double energy_threshold) | |
Private Attributes | |
| double | energy_threshold_ |
| The threshold above which grasps have 0 probability of success. | |
| int | model_id_ |
| The model id that the grasp's model_id will be compared to. | |
Detailed Description
Returns a simple probability of success based on the grasp's energy score.
Will return non-zero probability only if the grasp was originally computed on the same model that it is being queried for. In this case, it will still return 0 if the energy is above a given threshold, or linearly increasing if it is below that.
Definition at line 134 of file grasp_success_probability_computer.h.
Constructor & Destructor Documentation
| probabilistic_grasp_planner::SimpleGraspSuccessProbabilityComputer::SimpleGraspSuccessProbabilityComputer | ( | double | model_id, |
| double | energy_threshold | ||
| ) | [inline] |
Definition at line 143 of file grasp_success_probability_computer.h.
Member Function Documentation
| double probabilistic_grasp_planner::SimpleGraspSuccessProbabilityComputer::getProbability | ( | const GraspWithMetadata & | grasp | ) | [virtual] |
Implements probabilistic_grasp_planner::GraspSuccessProbabilityComputer.
Definition at line 52 of file grasp_success_probability_computer.cpp.
Member Data Documentation
double probabilistic_grasp_planner::SimpleGraspSuccessProbabilityComputer::energy_threshold_ [private] |
The threshold above which grasps have 0 probability of success.
Definition at line 140 of file grasp_success_probability_computer.h.
The model id that the grasp's model_id will be compared to.
Definition at line 138 of file grasp_success_probability_computer.h.
The documentation for this class was generated from the following files: