CGDBGraspProcessor Class Reference

#include <eigenTorques.h>

List of all members.

Public Member Functions
	CGDBGraspProcessor (Hand *h)
	Also gets the system-wide database manager.
void	reset ()
	Resets and gets ready for a new batch of grasps.
void	run ()
	The main function, runs the entire set of grasps.
	~CGDBGraspProcessor ()
	Also resets and deletes the processor.
Private Member Functions
void	processGrasps (std::vector< db_planner::Grasp * > *grasps)
	Executes a bunch of grasps and calls the Processor on each of them.
Private Attributes
db_planner::DatabaseManager *	mDbMgr
	A pointer to the one and only system-wide database manager.
Hand *	mHand
	The hand being used.
int	mMaxGrasps
	The maximum number of grasps to be processed. -1 means process all grasps.
int	mProcessedGrasps
	The number of grasps processed so far.
GraspProcessor *	mProcessor
	The instance that does the actual processing.

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Detailed Description

Handles all the details of loading objects from the CGDB, loading grasps for them, setting the hand in the grasp posture etc. Then it calls an instance of the GraspProcessor above to do whatever it wants for each grasp. After having gone through the entire list of grasps, it calls again the finalize() function of its GraspProcessor.

Definition at line 56 of file eigenTorques.h.

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Constructor & Destructor Documentation

CGDBGraspProcessor::CGDBGraspProcessor

(

Hand *

h

)

Also gets the system-wide database manager.

For now, also hard-codes in the type of processing that's done.

Definition at line 41 of file eigenTorques.cpp.

CGDBGraspProcessor::~CGDBGraspProcessor

(

)

[inline]

Also resets and deletes the processor.

Definition at line 76 of file eigenTorques.h.

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Member Function Documentation

void CGDBGraspProcessor::processGrasps

(

std::vector< db_planner::Grasp * > *

grasps

)

[private]

Executes a bunch of grasps and calls the Processor on each of them.

Definition at line 54 of file eigenTorques.cpp.

void CGDBGraspProcessor::reset

(

)

[inline]

Resets and gets ready for a new batch of grasps.

Definition at line 80 of file eigenTorques.h.

void CGDBGraspProcessor::run

(

)

The main function, runs the entire set of grasps.

Definition at line 110 of file eigenTorques.cpp.

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Member Data Documentation

db_planner::DatabaseManager* CGDBGraspProcessor::mDbMgr [private]

A pointer to the one and only system-wide database manager.

Definition at line 68 of file eigenTorques.h.

Hand* CGDBGraspProcessor::mHand [private]

The hand being used.

Definition at line 60 of file eigenTorques.h.

int CGDBGraspProcessor::mMaxGrasps [private]

The maximum number of grasps to be processed. -1 means process all grasps.

Definition at line 64 of file eigenTorques.h.

int CGDBGraspProcessor::mProcessedGrasps [private]

The number of grasps processed so far.

Definition at line 66 of file eigenTorques.h.

GraspProcessor* CGDBGraspProcessor::mProcessor [private]

The instance that does the actual processing.

Definition at line 62 of file eigenTorques.h.

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

• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/optimizer/eigenTorques.h
• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/optimizer/eigenTorques.cpp