Stores the values for a grasp. More...

#include <EigenGraspResult.h>

Public Types
typedef Eigen::Transform < double, 3, Eigen::Affine >	EigenTransform
Public Member Functions
	EigenGraspResult ()
	EigenGraspResult (const EigenGraspResult &o)
	EigenGraspResult (const EigenTransform &_relTransform, const std::vector< double > &_dofsGrasp, const std::vector< double > &_dofsPregrasp, const std::vector< double > &_egVals, const bool _legal, const double _qualEpsilon, const double _qualVolume, const double _energy)
const std::vector< double > &	getEigenGraspValues () const
double	getEnergy () const
const std::vector< double > &	getGraspJointDOFs () const
const EigenTransform &	getObjectToHandTransform () const
const std::vector< double > &	getPregraspJointDOFs () const
bool	isLegal () const
double	qualityEpsilon () const
double	qualityVolume () const
Private Attributes
std::vector< double >	egVals
double	energy
std::vector< double >	graspDOFs
bool	legal
std::vector< double >	pregraspDOFs
double	qualEpsilon
double	qualVolume
EigenTransform	relTransform
Friends
std::ostream &	operator<< (std::ostream &o, const EigenGraspResult &r)

Detailed Description

Stores the values for a grasp.

Grasp values consist of

the relative transform from the object to the hand
the joint's DOF values (joint angles)
the Eigengrasp value(s) for the grasp.

Author:: Jennifer Buehler

Date:: January 2016

Definition at line 48 of file EigenGraspResult.h.

Member Typedef Documentation

typedef Eigen::Transform<double, 3, Eigen::Affine> GraspIt::EigenGraspResult::EigenTransform

Definition at line 51 of file EigenGraspResult.h.

Constructor & Destructor Documentation

GraspIt::EigenGraspResult::EigenGraspResult ( ) [inline]

Definition at line 53 of file EigenGraspResult.h.

EigenGraspResult::EigenGraspResult ( const EigenGraspResult & o )

Definition at line 27 of file EigenGraspResult.cpp.

EigenGraspResult::EigenGraspResult	(	const EigenTransform &	_relTransform,
		const std::vector< double > &	_dofsGrasp,
		const std::vector< double > &	_dofsPregrasp,
		const std::vector< double > &	_egVals,
		const bool	_legal,
		const double	_qualEpsilon,
		const double	_qualVolume,
		const double	_energy
	)

Parameters:

_legal	Whether this state is legal or not, usually refers to presence or absence of collisions
_qualEpsilon	The epsilon quality for this grasp
_qualVolume	The volume quality for this grasp
_energy	The energy used by the simulated annealing-based planners

Definition at line 40 of file EigenGraspResult.cpp.

Member Function Documentation

const std::vector<double>& GraspIt::EigenGraspResult::getEigenGraspValues ( ) const [inline]

Returns the Eigengrasp value(s) for the grasp.

Definition at line 101 of file EigenGraspResult.h.

double GraspIt::EigenGraspResult::getEnergy ( ) const [inline]

The energy used by the simulated annealing-based planners

Definition at line 109 of file EigenGraspResult.h.

const std::vector<double>& GraspIt::EigenGraspResult::getGraspJointDOFs ( ) const [inline]

Returns the joint's DOF values (joint angles) for a closing grasp. The order corresponds to the order the joints were given in the GraspIt robot description file. If generated with urdf2graspit, this corresponds to the order the joints are encountered in a depth-first search of the URDF tree. The size of the returned vector should be the same size as the movable joints used for the EigenGrasp.

Definition at line 86 of file EigenGraspResult.h.

const EigenTransform& GraspIt::EigenGraspResult::getObjectToHandTransform ( ) const [inline]

Definition at line 72 of file EigenGraspResult.h.

const std::vector<double>& GraspIt::EigenGraspResult::getPregraspJointDOFs ( ) const [inline]

Like getGraspJointDOFs(), but for the pre-grasp.

Definition at line 93 of file EigenGraspResult.h.

bool GraspIt::EigenGraspResult::isLegal ( ) const [inline]

Whether this state is legal or not, usually refers to presence or absence of collisions

Definition at line 117 of file EigenGraspResult.h.

double GraspIt::EigenGraspResult::qualityEpsilon ( ) const [inline]

The epsilon quality for this grasp Jan 16: The quality value is always 0 for the simulated annealing planner. Have to investigate why.

Definition at line 126 of file EigenGraspResult.h.