Public Member Functions | Private Attributes
GraspHypothesis Class Reference

Grasp hypothesis data structure. More...

#include <grasp_hypothesis.h>

List of all members.

Public Member Functions

const Eigen::Vector3d & getApproach () const
 Return the approach vector of the grasp.
const Eigen::Vector3d & getAxis () const
 Return the hand axis of the grasp.
const Eigen::Vector3d & getBinormal () const
 Return the binormal of the grasp.
int getCamSource () const
 Return the camera source of the sample.
const Eigen::Vector3d & getGraspBottom () const
 Return the grasp position between the end of the finger tips.
const Eigen::Vector3d & getGraspSurface () const
 Return the grasp position between the end of the finger tips projected onto the back of the hand.
double getGraspWidth () const
 Return the width of the object contained in the grasp.
const std::vector< int > & getIndicesPointsForLearningCam1 () const
 Return the points used for training/prediction by the SVM.
const std::vector< int > & getIndicesPointsForLearningCam2 () const
 Return the points used for training/prediction by the SVM that belong to camera #1.
const Eigen::Matrix3Xd & getPointsForLearning () const
 Return the points used for training/prediction by the SVM that belong to camera #2.
 GraspHypothesis ()
 Default constructor.
 GraspHypothesis (const Eigen::Vector3d &axis, const Eigen::Vector3d &approach, const Eigen::Vector3d &binormal, const Eigen::Vector3d &bottom, const Eigen::Vector3d &surface, double width, const Eigen::Matrix3Xd &points_for_learning, const std::vector< int > &indices_cam1, const std::vector< int > &indices_cam2, int cam_source)
 Constructor.
bool isFullAntipodal () const
 Return whether the grasp is antipodal.
bool isHalfAntipodal () const
 Return whether the grasp is indeterminate.
void print ()
 Print a description of the grasp hypothesis to the systen's standard output.
void setFullAntipodal (bool b)
 Set whether the grasp is antipodal.
void setGraspWidth (double w)
 Set the width of the object contained in the grasp.
void setHalfAntipodal (bool b)
 Set whether the grasp is indeterminate.

Private Attributes

Eigen::Vector3d approach_
 the grasp approach vector (orthogonal to the hand axis)
Eigen::Vector3d axis_
 the hand axis
Eigen::Vector3d binormal_
 the binormal (orthogonal to the hand axis and the approach vector)
int cam_source_
 the camera source of the sample
bool full_antipodal_
 whether the grasp hypothesis is antipodal
Eigen::Vector3d grasp_bottom_
 the grasp position between the end of the finger tips
Eigen::Vector3d grasp_surface_
 the grasp position between the finger tips projected to the back of the hand
double grasp_width_
 the width of object enclosed by the fingers
bool half_antipodal_
 whether the grasp hypothesis is indeterminate
std::vector< int > indices_points_for_learning_cam1_
 the points used by the SVM for training/predictin that belong to camera #1
std::vector< int > indices_points_for_learning_cam2_
 the points used by the SVM for training/predictin that belong to camera #2
Eigen::Matrix3Xd points_for_learning_
 the points used by the SVM for training/predictin

Detailed Description

Grasp hypothesis data structure.

GraspHypothesis class

This class stores a single grasp hypothesis.

Definition at line 46 of file grasp_hypothesis.h.


Constructor & Destructor Documentation

Default constructor.

Definition at line 53 of file grasp_hypothesis.h.

GraspHypothesis::GraspHypothesis ( const Eigen::Vector3d &  axis,
const Eigen::Vector3d &  approach,
const Eigen::Vector3d &  binormal,
const Eigen::Vector3d &  bottom,
const Eigen::Vector3d &  surface,
double  width,
const Eigen::Matrix3Xd &  points_for_learning,
const std::vector< int > &  indices_cam1,
const std::vector< int > &  indices_cam2,
int  cam_source 
) [inline]

Constructor.

Parameters:
axisthe hand axis
approachthe grasp approach vector
binormalthe binormal
bottomthe position between the end of the finger tips
surfacethe position between the end of the finger tips projected onto the back of the hand
points_for_learningthe points used by the SVM for training/predictin
indices_cam1the point indices that belong to camera #1
indices_cam2the point indices that belong to camera #2
cam_sourcethe camera source of the sample

Definition at line 67 of file grasp_hypothesis.h.


Member Function Documentation

const Eigen::Vector3d& GraspHypothesis::getApproach ( ) const [inline]

Return the approach vector of the grasp.

Returns:
3x1 grasp approach vector

Definition at line 86 of file grasp_hypothesis.h.

const Eigen::Vector3d& GraspHypothesis::getAxis ( ) const [inline]

Return the hand axis of the grasp.

Returns:
3x1 hand axis

Definition at line 95 of file grasp_hypothesis.h.

const Eigen::Vector3d& GraspHypothesis::getBinormal ( ) const [inline]

Return the binormal of the grasp.

Returns:
3x1 binormal

Definition at line 104 of file grasp_hypothesis.h.

int GraspHypothesis::getCamSource ( ) const [inline]

Return the camera source of the sample.

Returns:
the camera source of the sample

Definition at line 185 of file grasp_hypothesis.h.

const Eigen::Vector3d& GraspHypothesis::getGraspBottom ( ) const [inline]

Return the grasp position between the end of the finger tips.

Returns:
3x1 grasp position between the end of the finger tips

Definition at line 122 of file grasp_hypothesis.h.

const Eigen::Vector3d& GraspHypothesis::getGraspSurface ( ) const [inline]

Return the grasp position between the end of the finger tips projected onto the back of the hand.

Returns:
3x1 grasp position between the end of the finger tips projected onto the back of the hand

Definition at line 131 of file grasp_hypothesis.h.

double GraspHypothesis::getGraspWidth ( ) const [inline]

Return the width of the object contained in the grasp.

Returns:
the width of the object contained in the grasp

Definition at line 140 of file grasp_hypothesis.h.

const std::vector<int>& GraspHypothesis::getIndicesPointsForLearningCam1 ( ) const [inline]

Return the points used for training/prediction by the SVM.

Returns:
the list of points used for training/prediction by the SVM

Definition at line 158 of file grasp_hypothesis.h.

const std::vector<int>& GraspHypothesis::getIndicesPointsForLearningCam2 ( ) const [inline]

Return the points used for training/prediction by the SVM that belong to camera #1.

Returns:
the list of points used for training/prediction by the SVM that belong to camera #1

Definition at line 167 of file grasp_hypothesis.h.

const Eigen::Matrix3Xd& GraspHypothesis::getPointsForLearning ( ) const [inline]

Return the points used for training/prediction by the SVM that belong to camera #2.

Returns:
the list of points used for training/prediction by the SVM that belong to camera #2

Definition at line 176 of file grasp_hypothesis.h.

bool GraspHypothesis::isFullAntipodal ( ) const [inline]

Return whether the grasp is antipodal.

Returns:
true if the grasp is antipodal, false otherwise

Definition at line 113 of file grasp_hypothesis.h.

bool GraspHypothesis::isHalfAntipodal ( ) const [inline]

Return whether the grasp is indeterminate.

Returns:
true if the grasp is indeterminate, false otherwise

Definition at line 149 of file grasp_hypothesis.h.

Print a description of the grasp hypothesis to the systen's standard output.

Definition at line 3 of file grasp_hypothesis.cpp.

void GraspHypothesis::setFullAntipodal ( bool  b) [inline]

Set whether the grasp is antipodal.

Parameters:
bwhether the grasp is antipodal

Definition at line 194 of file grasp_hypothesis.h.

void GraspHypothesis::setGraspWidth ( double  w) [inline]

Set the width of the object contained in the grasp.

Parameters:
wthe width of the object contained in the grasp

Definition at line 212 of file grasp_hypothesis.h.

void GraspHypothesis::setHalfAntipodal ( bool  b) [inline]

Set whether the grasp is indeterminate.

Parameters:
bwhether the grasp is indeterminate

Definition at line 203 of file grasp_hypothesis.h.


Member Data Documentation

Eigen::Vector3d GraspHypothesis::approach_ [private]

the grasp approach vector (orthogonal to the hand axis)

Definition at line 224 of file grasp_hypothesis.h.

Eigen::Vector3d GraspHypothesis::axis_ [private]

the hand axis

Definition at line 223 of file grasp_hypothesis.h.

Eigen::Vector3d GraspHypothesis::binormal_ [private]

the binormal (orthogonal to the hand axis and the approach vector)

Definition at line 225 of file grasp_hypothesis.h.

the camera source of the sample

Definition at line 219 of file grasp_hypothesis.h.

whether the grasp hypothesis is antipodal

Definition at line 229 of file grasp_hypothesis.h.

Eigen::Vector3d GraspHypothesis::grasp_bottom_ [private]

the grasp position between the end of the finger tips

Definition at line 226 of file grasp_hypothesis.h.

Eigen::Vector3d GraspHypothesis::grasp_surface_ [private]

the grasp position between the finger tips projected to the back of the hand

Definition at line 227 of file grasp_hypothesis.h.

the width of object enclosed by the fingers

Definition at line 228 of file grasp_hypothesis.h.

whether the grasp hypothesis is indeterminate

Definition at line 230 of file grasp_hypothesis.h.

the points used by the SVM for training/predictin that belong to camera #1

Definition at line 221 of file grasp_hypothesis.h.

the points used by the SVM for training/predictin that belong to camera #2

Definition at line 222 of file grasp_hypothesis.h.

Eigen::Matrix3Xd GraspHypothesis::points_for_learning_ [private]

the points used by the SVM for training/predictin

Definition at line 220 of file grasp_hypothesis.h.


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


agile_grasp
Author(s): Andreas ten Pas
autogenerated on Sat Jun 8 2019 20:08:27