distribution_evaluator.h
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00034 
00035 // Author(s): Peter Brook
00036 
00037 #ifndef DISTRIBUTION_COMPUTER_H_
00038 #define DISTRIBUTION_COMPUTER_H_
00039 
00040 #include <boost/shared_ptr.hpp>
00041 using boost::shared_ptr;
00042 
00043 namespace probabilistic_grasp_planner {
00045 class GraspWithMetadata;
00046 
00047 class DistributionEvaluator
00048 {
00049 protected:
00050   double normalization_term_;
00051 
00052 protected:
00053   DistributionEvaluator() :
00054     normalization_term_(0.0)
00055   {
00056   }
00057 
00058 public:
00059   virtual double evaluate(const GraspWithMetadata &gstar,const GraspWithMetadata &grasp) = 0;
00060 
00061   virtual void reset_normalization_term()
00062   {
00063     normalization_term_ = 0.0;
00064   }
00065 
00066   virtual double get_normalization_term() const
00067   {
00068     return normalization_term_;
00069   }
00070 
00071   virtual ~DistributionEvaluator() {};
00072 };
00073 
00074 typedef shared_ptr<DistributionEvaluator> DistributionEvaluatorPtr;
00075 
00076 class UniformDistributionEvaluator : public DistributionEvaluator
00077 {
00078 public:
00079   double evaluate(const GraspWithMetadata &gstar,const GraspWithMetadata &grasp)
00080   {
00081     normalization_term_ += 1.0;
00082     return 1.0;
00083   }
00084 };
00085 
00090 class NormalDistributionEvaluator : public DistributionEvaluator
00091 {
00092 private:
00093 
00094   double position_sigma_, orientation_concentration_;
00095 
00096   double evaluate_position(const GraspWithMetadata &gstar,const GraspWithMetadata &grasp);
00097   double evaluate_orientation(const GraspWithMetadata &gstar,const GraspWithMetadata &grasp);
00098 public:
00099   double evaluate(const GraspWithMetadata &gstar,const GraspWithMetadata &grasp);
00100   NormalDistributionEvaluator(double position_sigma, double orientation_concentration) :
00101     position_sigma_(position_sigma), orientation_concentration_(orientation_concentration)
00102   {
00103   }
00104 };
00105 
00110 class PolarNormalDistributionEvaluator : public DistributionEvaluator
00111 {
00112 public:
00113   double evaluate(const GraspWithMetadata &gstar,const GraspWithMetadata &grasp);
00114 };
00115 
00116 } // namespace
00117 
00118 #endif /* DISTRIBUTION_COMPUTER_H_ */
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probabilistic_grasp_planner
Author(s): Peter Brook
autogenerated on Fri Jan 25 2013 15:03:22