Search handles given grasp hypotheses. More...

Classes
struct	LastElementComparator
	Comparator for equality of the last element of two 2D-vectors. More...
struct	VectorFirstTwoElementsComparator
	Comparator for equality of the first two elements of two 3D-vectors. More...
Public Member Functions
std::vector< Handle >	findHandles (const std::vector< GraspHypothesis > &hand_list, int min_inliers, double min_length)
	Search for handles given a list of grasp hypotheses.
void	plotHandles (const std::vector< Handle > &handle_list, const PointCloud::Ptr &cloud, std::string str)
	Plot a list of handles.
Private Member Functions
double	safeAcos (double x)
	Safe version of the acos(x) function.
bool	shortenHandle (std::vector< Eigen::Vector2d > &inliers, double gap_threshold)
	Shorten a handle to a continuous piece.

Detailed Description

Search handles given grasp hypotheses.

This class searches for handles, i.e., clusters of grasps that are geometrically aligned. It can also plot the results of this search.

Definition at line 54 of file handle_search.h.

Member Function Documentation

std::vector< Handle > HandleSearch::findHandles	(	const std::vector< GraspHypothesis > &	hand_list,
		int	min_inliers,
		double	min_length
	)

Search for handles given a list of grasp hypotheses.

Parameters:

hand_list	the list of grasp hypotheses
min_inliers	the minimum number of grasp hypothesis contained in a handle
min_length	the minimum length of a handle

Definition at line 4 of file handle_search.cpp.

void HandleSearch::plotHandles	(	const std::vector< Handle > &	handle_list,
		const PointCloud::Ptr &	cloud,
		std::string	str
	)

Plot a list of handles.

Parameters:

handle_list	the list of handles to be plotted
cloud	the cloud to be plotted
str	the title of the plotting window

Definition at line 120 of file handle_search.cpp.

double HandleSearch::safeAcos ( double x ) [private]

Safe version of the acos(x) function.

Parameters:

x	the value whose arc cosine is computed

Definition at line 229 of file handle_search.cpp.

bool HandleSearch::shortenHandle	(	std::vector< Eigen::Vector2d > &	inliers,
		double	gap_threshold
	)		`[private]`

Shorten a handle to a continuous piece.

This function finds continuous handles by searching for a gap that is larger than gap_threshold.

Parameters:

inliers	the list of grasp hypotheses that are part of the handle to be shortened
gap_threshold	the maximum gap size

Definition at line 92 of file handle_search.cpp.

The documentation for this class was generated from the following files: