Trained grasp model information. More...

#include <GraspModel.h>

Inheritance diagram for rail::pick_and_place::graspdb::GraspModel:

Public Member Functions
void	addGrasp (const Grasp &grasp)
	Grasp adder.
const Grasp &	getBestGrasp () const
	Get the best grasp.
Grasp &	getBestGrasp ()
	Get the best grasp (immutable).
size_t	getBestGraspIndex () const
	Get the best grasp index.
double	getBestSuccessRate () const
	Get the highest success rate.
const Grasp &	getGrasp (const size_t index) const
	Grasp pose value accessor (immutable).
Grasp &	getGrasp (const size_t index)
	Grasp pose value accessor.
const std::vector< Grasp > &	getGrasps () const
	Grasps value accessor (immutable).
std::vector< Grasp > &	getGrasps ()
	Grasps value accessor.
size_t	getNumGrasps () const
	Grasps size accessor.
const std::string &	getObjectName () const
	Object name value accessor.
const sensor_msgs::PointCloud2 &	getPointCloud () const
	Point cloud accessor (immutable).
sensor_msgs::PointCloud2 &	getPointCloud ()
	Point cloud accessor.
const Grasp &	getWorstGrasp () const
	Get the worst grasp (immutable).
Grasp &	getWorstGrasp ()
	Get the worst grasp.
size_t	getWorstGraspIndex () const
	Get the worst grasp index.
double	getWorstSuccessRate () const
	Get the lowest success rate.
	GraspModel (const uint32_t id=Entity::UNSET_ID, const std::string &object_name="", const std::vector< Grasp > &grasps=std::vector< Grasp >(), const sensor_msgs::PointCloud2 &point_cloud=sensor_msgs::PointCloud2(), const time_t created=Entity::UNSET_TIME)
	Create a new GraspModel.
	GraspModel (const std::string &object_name, const std::vector< Grasp > &grasps, const sensor_msgs::PointCloud2 &point_cloud)
	Create a new GraspModel.
	GraspModel (const rail_pick_and_place_msgs::GraspModel &gm)
	Create a new GraspModel.
void	removeGrasp (const size_t index)
	Grasp remover.
void	setObjectName (const std::string &object_name)
	Object name value mutator.
void	setPointCloud (const sensor_msgs::PointCloud2 &point_cloud)
	Point cloud mutator.
rail_pick_and_place_msgs::GraspModel	toROSGraspModelMessage () const
Private Attributes
std::vector< Grasp >	grasps_
std::string	object_name_
sensor_msgs::PointCloud2	point_cloud_

Detailed Description

Trained grasp model information.

A grasp model contains a 3D point cloud model made up of several segmented point cloud segments from various grasp demonstrations, an object name (may be non-unique), an array of grasps for the model, and a unique identifier. This class is useful for internal data management within the graspdb library. Convenience functions are added for use with ROS messages.

Definition at line 44 of file GraspModel.h.

Constructor & Destructor Documentation

rail::pick_and_place::graspdb::GraspModel::GraspModel	(	const uint32_t	id = `Entity::UNSET_ID`,
		const std::string &	object_name = `""`,
		const std::vector< Grasp > &	grasps = `std::vector< Grasp >()`,
		const sensor_msgs::PointCloud2 &	point_cloud = `sensor_msgs::PointCloud2()`,
		const time_t	created = `Entity::UNSET_TIME`
	)

Create a new GraspModel.

Creates a new GraspModel with the given values. This constructor assumes a valid ID and timestamp are known.

Parameters:

id	The unique ID of the database entry (defaults to 0).
object_name	The name of the object grasped (defaults to the empty string).
grasps	The pose of the grasp (defaults to an empty vector).
point_cloud	The ROS sensor_msgs/PointCloud2 message of the segmented object (defaults to empty values).
created	The created timestamp (defaults to 0).

rail::pick_and_place::graspdb::GraspModel::GraspModel	(	const std::string &	object_name,
		const std::vector< Grasp > &	grasps,
		const sensor_msgs::PointCloud2 &	point_cloud
	)

Create a new GraspModel.

Creates a new GraspModel with the given values. This constructor assumes no valid ID and timestamp are known (e.g., for use when inserting into the database).

Parameters:

object_name	The name of the object grasped.
grasps	The pose of the grasp.
point_cloud	The ROS sensor_msgs/PointCloud2 message of the segmented object.

GraspModel::GraspModel ( const rail_pick_and_place_msgs::GraspModel & gm )

Create a new GraspModel.

Creates a new GraspModel with the given values the ROS message.

Parameters:

m	The ROS GraspModel message to extract values from.

Definition at line 36 of file GraspModel.cpp.

Member Function Documentation

void GraspModel::addGrasp ( const Grasp & grasp )

Grasp adder.

Add the grasp to this GraspModel. If the grasp_model_id of the grasp does not match, it will not be added.

Parameters:

grasp The new grasp to add.

Definition at line 97 of file GraspModel.cpp.

const Grasp & GraspModel::getBestGrasp ( ) const

Get the best grasp.

Get the best grasp based on the highest success rate. A tie results in the smaller index.

Returns:: The grasp with the highest success rate.

Exceptions:

std::out_of_range Thrown if there are no grasps in this grasp model.

Definition at line 121 of file GraspModel.cpp.

Grasp & GraspModel::getBestGrasp ( )

Get the best grasp (immutable).

Get the best grasp based on the highest success rate. A tie results in the smaller index.

Returns:: The grasp with the highest success rate.

Exceptions:

std::out_of_range Thrown if there are no grasps in this grasp model.

Definition at line 133 of file GraspModel.cpp.

size_t GraspModel::getBestGraspIndex ( ) const

Get the best grasp index.

Get the index of the best grasp based on the highest success rate. A tie results in the smaller index.

Returns:: The index of the grasp with the highest success rate.

Exceptions:

std::out_of_range Thrown if there are no grasps in this grasp model.

Definition at line 145 of file GraspModel.cpp.

double GraspModel::getBestSuccessRate ( ) const

Get the highest success rate.

Get the highest grasp success rate of this model.

Returns:: The the highest success rate of all grasps for this model.

Exceptions:

std::out_of_range Thrown if there are no grasps in this grasp model.

Definition at line 171 of file GraspModel.cpp.

const Grasp & GraspModel::getGrasp ( const size_t index ) const

Grasp pose value accessor (immutable).

Get the grasp of this GraspModel at the given index.

Parameters:

i	The index of the Pose to get.

Returns:: The grasp pose at the given index.

Exceptions:

std::out_of_range Thrown if the grasp at the given index does not exist.

Definition at line 73 of file GraspModel.cpp.

Grasp & GraspModel::getGrasp ( const size_t index )

Grasp pose value accessor.

Get the grasp of this GraspModel at the given index.

Parameters:

i	The index of the Pose to get.

Returns:: The grasp pose at the given index.

Exceptions:

std::out_of_range Thrown if the grasp at the given index does not exist.

Definition at line 85 of file GraspModel.cpp.

const vector< Grasp > & GraspModel::getGrasps ( ) const

Grasps value accessor (immutable).

Get the grasps of this GraspModel.

Returns:: The grasps.

Definition at line 58 of file GraspModel.cpp.

vector< Grasp > & GraspModel::getGrasps ( )

Grasps value accessor.

Get the grasps of this GraspModel.

Returns:: The grasps.

Definition at line 63 of file GraspModel.cpp.

size_t GraspModel::getNumGrasps ( ) const

Grasps size accessor.

Get the number of grasps of this GraspModel.

Returns:: The number of grasps of this GraspModel.

Definition at line 68 of file GraspModel.cpp.

const string & GraspModel::getObjectName ( ) const

Object name value accessor.

Get the object name value of this GraspModel.

Returns:: The object name value.

Definition at line 48 of file GraspModel.cpp.

const sensor_msgs::PointCloud2 & GraspModel::getPointCloud ( ) const

Point cloud accessor (immutable).

Get the point cloud message.

Returns:: The point cloud message.

Definition at line 265 of file GraspModel.cpp.

sensor_msgs::PointCloud2 & GraspModel::getPointCloud ( )

Point cloud accessor.

Get the point cloud message.

Returns:: The point cloud message.

Definition at line 270 of file GraspModel.cpp.

const Grasp & GraspModel::getWorstGrasp ( ) const

Get the worst grasp (immutable).

Get the worst grasp based on the lowest success rate. A tie results in the smaller index.

Returns:: The grasp with the lowest success rate.

Exceptions:

std::out_of_range Thrown if there are no grasps in this grasp model.

Definition at line 193 of file GraspModel.cpp.

Grasp & GraspModel::getWorstGrasp ( )

Get the worst grasp.

Get the worst grasp based on the lowest success rate. A tie results in the smaller index.

Returns:: The grasp with the lowest success rate.

Exceptions:

std::out_of_range Thrown if there are no grasps in this grasp model.

Definition at line 205 of file GraspModel.cpp.

size_t GraspModel::getWorstGraspIndex ( ) const

Get the worst grasp index.

Get the index of the worst grasp based on the lowest success rate. A tie results in the smaller index.

Returns:: The index of the grasp with the lowest success rate.

Exceptions:

std::out_of_range Thrown if there are no grasps in this grasp model.

Definition at line 217 of file GraspModel.cpp.

double GraspModel::getWorstSuccessRate ( ) const

Get the lowest success rate.

Get the lowest grasp success rate of this model.

Returns:: The the lowest success rate of all grasps for this model.

Exceptions:

std::out_of_range Thrown if there are no grasps in this grasp model.

Definition at line 243 of file GraspModel.cpp.

void GraspModel::removeGrasp ( const size_t index )

Grasp remover.

Remove the grasp at the given index. An invalid index results in no effect.

Parameters:

i	The index of the grasp pose to remove.

Exceptions:

std::out_of_range Thrown if the grasp at the given index does not exist.

Definition at line 109 of file GraspModel.cpp.

void GraspModel::setObjectName ( const std::string & object_name )

Object name value mutator.

Set the object name value of this GraspModel.

Parameters:

object_name The new object name value.

Definition at line 53 of file GraspModel.cpp.

void GraspModel::setPointCloud ( const sensor_msgs::PointCloud2 & point_cloud )

Point cloud mutator.

Set the point cloud message to the given values based on the ROS message.

Parameters:

point_cloud The ROS PointCloud2 message to store.

Definition at line 275 of file GraspModel.cpp.

rail_pick_and_place_msgs::GraspModel GraspModel::toROSGraspModelMessage ( ) const

Converts this GraspModel object into a ROS GraspModel message.

Returns:: The ROS GraspModel message with this grasp model data.

Definition at line 280 of file GraspModel.cpp.

Member Data Documentation

std::vector<Grasp> rail::pick_and_place::graspdb::GraspModel::grasps_ [private]

The grasps for this model.

Definition at line 289 of file GraspModel.h.

std::string rail::pick_and_place::graspdb::GraspModel::object_name_ [private]

The name of the object for this model.

Definition at line 287 of file GraspModel.h.

sensor_msgs::PointCloud2 rail::pick_and_place::graspdb::GraspModel::point_cloud_ [private]

The point cloud data.

Definition at line 291 of file GraspModel.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation