Contains a database record of a capture region. More...

#include <database_capture_region.h>

Inheritance diagram for household_objects_database::DatabaseCaptureRegion:

Public Member Functions
	DatabaseCaptureRegion ()
	Only initialized fields.
	~DatabaseCaptureRegion ()
	Empty stub.
Public Attributes
database_interface::DBField < DatabasePose >	capture_region_computation_frame_in_object_frame_
	The coordinate the frame this capture region is computed in relative to the object's original coordinate frame.
database_interface::DBField < double >	finger_padding_
	The padding value used when computing the capture region.
database_interface::DBField < double >	fingertip_frame_to_pushing_surface_distance_
	The height of the contact on the object.
database_interface::DBField < double >	hand_object_coefficient_of_friction_
	The coefficient of friction between the hand and the object used to compute this capture region.
database_interface::DBField< int >	id_
	The primary key, id of this capture region in the database.
database_interface::DBField < double >	in_hand_distance_
	The heuristic used to decide when the object is in the hand.
database_interface::DBField < std::vector< std::vector < double > > >	left_pushing_distances_
	The pushing distances required for every lateral offset - rotation pair for the left fingertip.
database_interface::DBField < std::vector< std::vector < int > > >	left_pushing_roll_sides_
	The side the object moves for every lateral offset - rotation pair for the left fingertip.
database_interface::DBField< int >	n_rotations_
	The number of steps in rotations.
database_interface::DBField< int >	n_y_steps_
	The number of steps in lateral offset.
database_interface::DBField < std::string >	object_description_
	The description (usually name) of the object this capture region is for.
database_interface::DBField < std::string >	object_geometry_hash_
	The unique hash generated from the object geometry.
database_interface::DBField < double >	pushing_distance_
	The pushing distance used to compute this capture region.
database_interface::DBField < double >	radius_of_cylinder_bounding_the_object_
	The radius of the cylinder bounding the object along the axis normal to thepushing surface.
database_interface::DBField < std::vector< std::vector < double > > >	right_pushing_distances_
	The pushing distances required for every lateral offset - rotation pair for the right fingertip.
database_interface::DBField < std::vector< std::vector < int > > >	right_pushing_roll_sides_
	The side the object moves for every lateral offset - rotation pair for the right fingertip.
database_interface::DBField < std::string >	robot_geometry_hash_
	The unique hash generated from the robot geometry.
database_interface::DBField < double >	rotation_resolution_
	The rotational resolution the capture region is computed for.
database_interface::DBField< int >	scaled_model_id_
	The scaled model that this capture region is for.
database_interface::DBField < double >	start_y_offset_
	The starting point in lateral offset.
database_interface::DBField < double >	y_resolution_
	The resolution the capture region is computed in lateral offset.