ClosureSearchEnergy Class Reference

#include <searchEnergy.h>

Inheritance diagram for ClosureSearchEnergy:

[legend]

List of all members.

Public Member Functions
void	analyzeState (bool &isLegal, double &stateEnergy, const GraspPlanningState *state, bool noChange=true)
	ClosureSearchEnergy ()
void	setAvoidList (const std::list< GraspPlanningState * > *l)
void	setThreshold (double t)
Protected Attributes
const std::list < GraspPlanningState * > *	mAvoidList
double	mThreshold

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Detailed Description

This class is meant to be used with the GuidedPlanner that looks for force-closure. It adds one main thing:

• can use a list of "avoid states", so that a new state is deemed illegal if it is in the vicintiy of one of these

Definition at line 132 of file searchEnergy.h.

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Constructor & Destructor Documentation

ClosureSearchEnergy::ClosureSearchEnergy

(

)

[inline]

Definition at line 138 of file searchEnergy.h.

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Member Function Documentation

void ClosureSearchEnergy::analyzeState	(	bool &	isLegal,
		double &	stateEnergy,
		const GraspPlanningState *	state,
		bool	noChange = true
	)			[virtual]

This is the main interface to this class. It is passed a GraspPlanningState* and returns whether the HandObjectState is legal, and if so, it's energy. If noChange = true, it will re-set the world situation to what it was on entry. if not, it will leave the world in the state encapsulated in HandObjectState. if the HandObjectState is not legal, it will re-set the world before exiting regardless of the noChange flag.

Reimplemented from SearchEnergy.

Definition at line 716 of file searchEnergy.cpp.

void ClosureSearchEnergy::setAvoidList

(

const std::list< GraspPlanningState * > *

l

)

[inline]

Definition at line 141 of file searchEnergy.h.

void ClosureSearchEnergy::setThreshold

(

double

t

)

[inline]

Definition at line 140 of file searchEnergy.h.

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Member Data Documentation

const std::list<GraspPlanningState*>* ClosureSearchEnergy::mAvoidList [protected]

Definition at line 135 of file searchEnergy.h.

double ClosureSearchEnergy::mThreshold [protected]

Definition at line 136 of file searchEnergy.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/include/EGPlanner/searchEnergy.h
• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/EGPlanner/searchEnergy.cpp