Go to the source code of this file.
Classes | |
| struct | CovariancePoint |
| struct | HandConfig |
| struct | HandConfList |
| struct | Point3D |
Defines | |
| #define | MAX_TESTED_POSES 1000 |
Functions | |
| HandConfList | GetGraspList (Point3D *obstacle_list, CovariancePoint *obstacle_covs, int num, double offset_rot_z_side, double offset_ros_z_top) |
| HandConfig | GetGraspLM (Point3D *obstacle_list, CovariancePoint *obstacle_covs, int num, double offset_rot_z_side, double offset_ros_z_top) |
| double | getTableHeight () |
| int | InitSGP (Point3D *hand_points, int num, double table_z) |
| void | setTableHeight (double table_z) |
| Point3D | TransformPoint (Point3D hand, Point3D target, double alpha, double beta, double delta) |
Define Documentation
| #define MAX_TESTED_POSES 1000 |
Definition at line 62 of file SimpleGraspPlanner.h.
Function Documentation
| HandConfList GetGraspList | ( | Point3D * | obstacle_list, |
| CovariancePoint * | obstacle_covs, | ||
| int | num, | ||
| double | offset_rot_z_side, | ||
| double | offset_ros_z_top | ||
| ) |
Initialize hand_center
Initialize lists
Initialize search space + sampling
Consider Table collision
Initialize start score: careful for strange covariances, this value might be to low
generate configuration dependant hand points
Definition at line 340 of file SimpleGraspPlanner.c.
| HandConfig GetGraspLM | ( | Point3D * | obstacle_list, |
| CovariancePoint * | obstacle_covs, | ||
| int | num, | ||
| double | offset_rot_z_side, | ||
| double | offset_ros_z_top | ||
| ) |
Initialize hand_center
Initialize lists
Initialize search space + sampling
Consider Table collision
Initialize start score: careful for strange covariances, this value might be to low
generate configuration dependant hand points
Definition at line 202 of file SimpleGraspPlanner.c.
| double getTableHeight | ( | ) |
Definition at line 83 of file SimpleGraspPlanner.c.
Initialize the hand configuration
Get biggest hand z (first collision coming from top with a table)
Get smallest hand y (first collision point with a table coming from the side)
Definition at line 52 of file SimpleGraspPlanner.c.
| void setTableHeight | ( | double | table_z | ) |
Definition at line 77 of file SimpleGraspPlanner.c.
| Point3D TransformPoint | ( | Point3D | hand, |
| Point3D | target, | ||
| double | alpha, | ||
| double | beta, | ||
| double | delta | ||
| ) |
new poitions: Point P in object coordinates depending on the parameters alpha, beta and delta
Definition at line 187 of file SimpleGraspPlanner.c.