CompliantGraspCopyTask Class Reference

For all the grasps of the given object, computes and stores their compliant equivalents. More...

#include <compliantGraspCopyTask.h>

Inheritance diagram for CompliantGraspCopyTask:

[legend]

List of all members.

Public Member Functions
	CompliantGraspCopyTask (TaskDispatcher *disp, db_planner::DatabaseManager *mgr, db_planner::TaskRecord rec)
	Just a stub for now.
virtual void	start ()
	Actually does all the work.
	~CompliantGraspCopyTask ()
	Nothing to do here.
Private Member Functions
bool	checkStoreGrasp (const db_planner::Grasp *original)
	Stores a new grasp in the database as a compliant copy of the original.
bool	compliantCopy (const db_planner::Grasp *grasp, Pr2Gripper2010::ComplianceType compliance)
	Does all the compliant copy work for one particular grasp.
bool	searchSimilarity (const transf &t1, const transf &t2)
	Same thing, but using the distance measure also used in grasp planning.
bool	similarity (const transf &t1, const transf &t2)
	Returns true if two transforms are "close" to each other.

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Detailed Description

For all the grasps of the given object, computes and stores their compliant equivalents.

A compliant equivalent grasp of a given grasp is obtained by doing a "compliant open" (meaning opening around one of the fingers).

We are inheriting from the PreGraspCheckTask as this shares some of the functionality,

Definition at line 42 of file compliantGraspCopyTask.h.

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Constructor & Destructor Documentation

CompliantGraspCopyTask::CompliantGraspCopyTask	(	TaskDispatcher *	disp,
		db_planner::DatabaseManager *	mgr,
		db_planner::TaskRecord	rec
	)

Just a stub for now.

Definition at line 40 of file compliantGraspCopyTask.cpp.

CompliantGraspCopyTask::~CompliantGraspCopyTask

(

)

[inline]

Nothing to do here.

Definition at line 61 of file compliantGraspCopyTask.h.

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Member Function Documentation

bool CompliantGraspCopyTask::checkStoreGrasp

(

const db_planner::Grasp *

original

)

[private]

Stores a new grasp in the database as a compliant copy of the original.

Definition at line 155 of file compliantGraspCopyTask.cpp.

bool CompliantGraspCopyTask::compliantCopy	(	const db_planner::Grasp *	grasp,
		Pr2Gripper2010::ComplianceType	compliance
	)			[private]

Does all the compliant copy work for one particular grasp.

Definition at line 103 of file compliantGraspCopyTask.cpp.

bool CompliantGraspCopyTask::searchSimilarity	(	const transf &	t1,
		const transf &	t2
	)			[private]

Same thing, but using the distance measure also used in grasp planning.

This is copied over from the distance function of the SearchState so that we use the same metric as when doing the actual grasp planning.

Definition at line 244 of file compliantGraspCopyTask.cpp.

bool CompliantGraspCopyTask::similarity	(	const transf &	t1,
		const transf &	t2
	)			[private]

Returns true if two transforms are "close" to each other.

This uses a slightly different similarity metric, more in tune with what we use for clustering but different from the one used during actual grasp planning, which will lead to inconsistencies in the sampling. This *should* not create real problems though.

The angular threshold does not really play any role here as compliant copies *should* not have any angular differences.

Definition at line 220 of file compliantGraspCopyTask.cpp.

void CompliantGraspCopyTask::start

(

)

[virtual]

Actually does all the work.

Reimplemented from PreGraspCheckTask.

Definition at line 46 of file compliantGraspCopyTask.cpp.

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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/DBase/compliantGraspCopyTask.h
• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/DBase/compliantGraspCopyTask.cpp