Used for running tests with compliant hands. More...
#include <compliantPlannerDlg.h>
Public Slots | |
| void | bestButtonClicked () |
| void | designTestButtonClicked () |
| void | generateButtonClicked () |
| void | nextButtonClicked () |
| void | plannerFinished () |
| void | prepareOneButtonClicked () |
| void | prevButtonClicked () |
| void | resetObjectButtonClicked () |
| void | showOneButtonClicked () |
| void | testButtonClicked () |
| void | testOneButtonClicked () |
| void | update () |
| void | updateOut () |
| void | visualMarkersBoxClicked () |
Public Member Functions | |
| CompliantPlannerDlg (Hand *h, GraspableBody *gb, QWidget *parent=0) | |
| ~CompliantPlannerDlg () | |
Private Member Functions | |
| void | addCartesianSamples (const GraspPlanningState &seed, std::list< GraspPlanningState * > *sampling, int samples, double x, double y, double z) |
| Helper function for the above. | |
| void | boxSampling (double a, double b, double c, double res) |
| void | ellipsoidSampling (double a, double b, double c, double resolution) |
| void | gridEllipsoidSampling (const GraspPlanningState &seed, std::list< GraspPlanningState * > *sampling, int samples) |
| Samples an ellipsoid using a grid-based method to generate pre-grasps. | |
| void | init () |
| Initialization stuff. | |
| void | sampleFace (vec3 x, vec3 y, vec3 z, double sz1, double sz2, vec3 tln, double res, std::list< GraspPlanningState * > *sampling) |
| void | showResult () |
| Display one grasp from the result list. | |
| void | startPlanner () |
Private Attributes | |
| bool | mBatch |
| int | mBestGraspNum |
| The current grasp displayed from the best list. | |
| Hand * | mHand |
| The hand we are planning on. | |
| int | mNumCandidates |
| The number of candidate grasps that were sampled to be tried out. | |
| GraspableBody * | mObject |
| The object we are planning on. | |
| transf | mObjectRefTran |
| The reference position of the target object. | |
| std::fstream * | mOut |
| The file (if any) that full results are written to. | |
| ListPlanner * | mPlanner |
| The planner the dialog is using. | |
| double | mSFrom |
| double | mSR |
| double | mSStep |
| double | mSTo |
| double | mTFrom |
| For batch testing for hand design. | |
| double | mTR |
| double | mTStep |
| double | mTTo |
Used for running tests with compliant hands.
This dialog is used for running various tests of the compliant hand solver framework. It is not finished, and currently not in a very well-engineered state. It is in bad need of a re-design.
Definition at line 47 of file compliantPlannerDlg.h.
| CompliantPlannerDlg::CompliantPlannerDlg | ( | Hand * | h, | |
| GraspableBody * | gb, | |||
| QWidget * | parent = 0 | |||
| ) | [inline] |
Definition at line 91 of file compliantPlannerDlg.h.
| CompliantPlannerDlg::~CompliantPlannerDlg | ( | ) |
Definition at line 97 of file compliantPlannerDlg.cpp.
| void CompliantPlannerDlg::addCartesianSamples | ( | const GraspPlanningState & | seed, | |
| std::list< GraspPlanningState * > * | sampling, | |||
| int | samples, | |||
| double | x, | |||
| double | y, | |||
| double | z | |||
| ) | [private] |
Helper function for the above.
Definition at line 107 of file compliantPlannerDlg.cpp.
| void CompliantPlannerDlg::bestButtonClicked | ( | ) | [slot] |
Definition at line 397 of file compliantPlannerDlg.cpp.
| void CompliantPlannerDlg::boxSampling | ( | double | a, | |
| double | b, | |||
| double | c, | |||
| double | res | |||
| ) | [private] |
Definition at line 260 of file compliantPlannerDlg.cpp.
| void CompliantPlannerDlg::designTestButtonClicked | ( | ) | [slot] |
Definition at line 470 of file compliantPlannerDlg.cpp.
| void CompliantPlannerDlg::ellipsoidSampling | ( | double | a, | |
| double | b, | |||
| double | c, | |||
| double | resolution | |||
| ) | [private] |
Definition at line 193 of file compliantPlannerDlg.cpp.
| void CompliantPlannerDlg::generateButtonClicked | ( | ) | [slot] |
Definition at line 165 of file compliantPlannerDlg.cpp.
| void CompliantPlannerDlg::gridEllipsoidSampling | ( | const GraspPlanningState & | seed, | |
| std::list< GraspPlanningState * > * | sampling, | |||
| int | samples | |||
| ) | [private] |
Samples an ellipsoid using a grid-based method to generate pre-grasps.
Samples an ellipsoid by sampling uniformly a grid with the same aspect ratio and projecting the resulting points on the ellipsoid. Not ideal, but at least much better then sampling angular variables directly
Definition at line 140 of file compliantPlannerDlg.cpp.
| void CompliantPlannerDlg::init | ( | ) | [private] |
Initialization stuff.
Definition at line 56 of file compliantPlannerDlg.cpp.
| void CompliantPlannerDlg::nextButtonClicked | ( | ) | [slot] |
Definition at line 391 of file compliantPlannerDlg.cpp.
| void CompliantPlannerDlg::plannerFinished | ( | ) | [slot] |
Definition at line 492 of file compliantPlannerDlg.cpp.
| void CompliantPlannerDlg::prepareOneButtonClicked | ( | ) | [slot] |
Definition at line 420 of file compliantPlannerDlg.cpp.
| void CompliantPlannerDlg::prevButtonClicked | ( | ) | [slot] |
Definition at line 385 of file compliantPlannerDlg.cpp.
| void CompliantPlannerDlg::resetObjectButtonClicked | ( | ) | [slot] |
Definition at line 442 of file compliantPlannerDlg.cpp.
| void CompliantPlannerDlg::sampleFace | ( | vec3 | x, | |
| vec3 | y, | |||
| vec3 | z, | |||
| double | sz1, | |||
| double | sz2, | |||
| vec3 | tln, | |||
| double | res, | |||
| std::list< GraspPlanningState * > * | sampling | |||
| ) | [private] |
Definition at line 225 of file compliantPlannerDlg.cpp.
| void CompliantPlannerDlg::showOneButtonClicked | ( | ) | [slot] |
Definition at line 404 of file compliantPlannerDlg.cpp.
| void CompliantPlannerDlg::showResult | ( | ) | [private] |
Display one grasp from the result list.
Definition at line 349 of file compliantPlannerDlg.cpp.
| void CompliantPlannerDlg::startPlanner | ( | ) | [private] |
Definition at line 307 of file compliantPlannerDlg.cpp.
| void CompliantPlannerDlg::testButtonClicked | ( | ) | [slot] |
Definition at line 313 of file compliantPlannerDlg.cpp.
| void CompliantPlannerDlg::testOneButtonClicked | ( | ) | [slot] |
Definition at line 279 of file compliantPlannerDlg.cpp.
| void CompliantPlannerDlg::update | ( | ) | [slot] |
Definition at line 340 of file compliantPlannerDlg.cpp.
| void CompliantPlannerDlg::updateOut | ( | ) | [slot] |
Definition at line 448 of file compliantPlannerDlg.cpp.
| void CompliantPlannerDlg::visualMarkersBoxClicked | ( | ) | [slot] |
Definition at line 436 of file compliantPlannerDlg.cpp.
bool CompliantPlannerDlg::mBatch [private] |
Definition at line 69 of file compliantPlannerDlg.h.
int CompliantPlannerDlg::mBestGraspNum [private] |
The current grasp displayed from the best list.
Definition at line 60 of file compliantPlannerDlg.h.
Hand* CompliantPlannerDlg::mHand [private] |
The hand we are planning on.
Definition at line 54 of file compliantPlannerDlg.h.
int CompliantPlannerDlg::mNumCandidates [private] |
The number of candidate grasps that were sampled to be tried out.
Definition at line 58 of file compliantPlannerDlg.h.
GraspableBody* CompliantPlannerDlg::mObject [private] |
The object we are planning on.
Definition at line 56 of file compliantPlannerDlg.h.
transf CompliantPlannerDlg::mObjectRefTran [private] |
The reference position of the target object.
Definition at line 62 of file compliantPlannerDlg.h.
std::fstream* CompliantPlannerDlg::mOut [private] |
The file (if any) that full results are written to.
Definition at line 64 of file compliantPlannerDlg.h.
ListPlanner* CompliantPlannerDlg::mPlanner [private] |
The planner the dialog is using.
Definition at line 52 of file compliantPlannerDlg.h.
double CompliantPlannerDlg::mSFrom [private] |
Definition at line 68 of file compliantPlannerDlg.h.
double CompliantPlannerDlg::mSR [private] |
Definition at line 68 of file compliantPlannerDlg.h.
double CompliantPlannerDlg::mSStep [private] |
Definition at line 68 of file compliantPlannerDlg.h.
double CompliantPlannerDlg::mSTo [private] |
Definition at line 68 of file compliantPlannerDlg.h.
double CompliantPlannerDlg::mTFrom [private] |
For batch testing for hand design.
Definition at line 67 of file compliantPlannerDlg.h.
double CompliantPlannerDlg::mTR [private] |
Definition at line 67 of file compliantPlannerDlg.h.
double CompliantPlannerDlg::mTStep [private] |
Definition at line 67 of file compliantPlannerDlg.h.
double CompliantPlannerDlg::mTTo [private] |
Definition at line 67 of file compliantPlannerDlg.h.
