distribution_evaluator.cpp

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// Author(s): Peter Brook

#include <tf/transform_datatypes.h>

//#define PROF_ENABLED
//#include <profiling/profiling.h>

#include <Eigen/Core>
// For inverse
#include <Eigen/LU>

#include "probabilistic_grasp_planner/probabilistic_planner_tools.h"
#include "probabilistic_grasp_planner/distribution_evaluator.h"

using namespace Eigen;

namespace probabilistic_grasp_planner {

double NormalDistributionEvaluator::evaluate_position(const GraspWithMetadata &gstar,const GraspWithMetadata &grasp)
{

  Vector3d mean(gstar.tool_point_pose_.getOrigin().m_floats);
  Vector3d x(grasp.tool_point_pose_.getOrigin().m_floats);
  Vector3d delta(x-mean);
  Matrix3d covariance = Matrix3d::Zero();
  covariance(0,0) = covariance(1,1) = covariance(2,2) = pow(position_sigma_,2);

  double ex = exp(-0.5*(delta.transpose() * covariance.inverse() * delta)(0,0));
  //double coeff = 1.0/(pow(M_2_PI, 1.5)*pow(covariance.determinant(),0.5)); gets normalized out anyway
  return ex;
}

double NormalDistributionEvaluator::evaluate_orientation(const GraspWithMetadata &gstar,const GraspWithMetadata &grasp)
{
  double cos_angle = gstar.tool_point_pose_.getRotation().dot(grasp.tool_point_pose_.getRotation());
  double ex = exp(orientation_concentration_ * pow(cos_angle,2));
  double normalization = exp(orientation_concentration_);
  return ex / normalization;
}

double NormalDistributionEvaluator::evaluate(const GraspWithMetadata &gstar,const GraspWithMetadata &grasp)
{
  double value =evaluate_position(gstar, grasp)*evaluate_orientation(gstar, grasp);
  normalization_term_ += value;
  return value;
}

double PolarNormalDistributionEvaluator::evaluate(const GraspWithMetadata &gstar,const GraspWithMetadata &grasp)
{
  double m_r = 0.0;
  double position_stddev = 0.01; //1cm stddev
  double m_theta = 0.0;
  double orientation_stddev = 0.174; // 10 degrees stddev

  /*
   * Compute "probability" (actually likelihood or probability density) of getting this grasp given that gstar was
   * commanded.
   *
   * The this value is the product of the likelihood for the positioning error and the likelihood for the
   * orientation error.
   */

  double cartesian_distance = 0;
  double rotation_distance = 0;
  gstar.getDistance(grasp,cartesian_distance, rotation_distance);

  double p_position = exp(-pow((cartesian_distance-m_r),2)/(2*pow(position_stddev,2)));

  double p_orientation = exp(-pow((rotation_distance-m_theta),2)/(2*pow(orientation_stddev,2)));

  double pose_probability = p_position*p_orientation;

  normalization_term_ += pose_probability;
  return pose_probability;
}

} // namespace