handle.h
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00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2015, Andreas ten Pas
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
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00018  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00031 
00032 #ifndef HANDLE_H_
00033 #define HANDLE_H_
00034 
00035 #include <Eigen/Dense>
00036 #include <iostream>
00037 #include <vector>
00038 
00039 #include <agile_grasp/grasp_hypothesis.h>
00040 
00049 class Handle
00050 {
00051 public:
00052         
00058         Handle(const std::vector<GraspHypothesis>& hand_list, const std::vector<int>& inliers);
00059         
00064         const Eigen::Vector3d& getApproach() const
00065         {
00066                 return approach_;
00067         }
00068         
00073         const Eigen::Vector3d& getAxis() const
00074         {
00075                 return axis_;
00076         }
00077 
00082         const Eigen::Vector3d& getCenter() const
00083         {
00084                 return center_;
00085         }
00086         
00091         const Eigen::Vector3d& getHandsCenter() const
00092         {
00093                 return hands_center_;
00094         }
00095         
00100         double getWidth() const
00101         {
00102                 return width_;
00103         }
00104         
00109         const std::vector<GraspHypothesis>& getHandList() const
00110         {
00111                 return hand_list_;
00112         }
00113         
00118         const std::vector<int>& getInliers() const
00119         {
00120                 return inliers_;
00121         }
00122 
00123 private:
00124         
00128         void setGraspVariables();
00129         
00133         void setAxis();
00134 
00138         void setDistAlongHandle();
00139         
00143         void setGraspWidth();
00144 
00145         std::vector<int> inliers_; 
00146         std::vector<GraspHypothesis> hand_list_; 
00147         Eigen::Vector3d center_; 
00148         Eigen::Vector3d axis_; 
00149         Eigen::Vector3d approach_; 
00150         double width_; 
00151         Eigen::Vector3d hands_center_; 
00152         Eigen::VectorXd dist_along_handle_; 
00153 };
00154 
00155 #endif /* HANDLE_H_ */


agile_grasp
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autogenerated on Thu Aug 27 2015 12:01:28