#include <graspit_db_grasp.h>
Public Member Functions | |
| void | addTestScore (double s) |
| Records the test score in the memory, not in CGDB, these scores will not be stored. | |
| const GraspPlanningState * | getFinalGraspPlanningState () const |
| Returns the final-grasp of this GraspitDBGrasp. | |
| GraspPlanningState * | getFinalGraspPlanningState () |
| Returns the final-grasp of this GraspitDBGrasp. | |
| const Hand * | getHand () const |
| Returns the hand associated with this grasp. | |
| int | getNumTestScores () |
| Returns the number of tests that have just been done. | |
| const GraspPlanningState * | getPreGraspPlanningState () const |
| Returns the pre-grasp of this GraspitDBGrasp. | |
| GraspPlanningState * | getPreGraspPlanningState () |
| Returns the pre-grasp of this GraspitDBGrasp. | |
| double | getTestAverageScore () |
| Returns the average of the scores of the past tests. | |
| double | getTestScore (int i) |
| Returns the score of the i-th test. | |
| GraspitDBGrasp (Hand *h) | |
| GraspitDBGrasp (const GraspitDBGrasp &grasp2) | |
| copy another grasp | |
| void | setFinalGraspPlanningState (GraspPlanningState *p) |
| Set the finalgrasp planning state. | |
| virtual bool | SetGraspParameters (const vector< double > &pregrasp_joints, const vector< double > &pregrasp_position, const vector< double > &grasp_joints, const vector< double > &grasp_position) |
| void | setPreGraspPlanningState (GraspPlanningState *p) |
| Set the pregrasp planning state and modify the original pregrasp in db_planner::grasp as well. | |
| bool | Transform (const float array[16]) |
| Transform this grasp. | |
| ~GraspitDBGrasp () | |
Static Public Member Functions | |
| static QString | getHandDBName (Hand *h) |
| Returns the corresponding hand name in CGDB. | |
| static QString | getHandGraspitPath (QString handDBName) |
| Returns the GraspIt path for loading a hand based on its db name. | |
Private Attributes | |
| GraspPlanningState * | mFinalGrasp |
| Hand * | mHand |
| The hand associated with this grasp. | |
| GraspPlanningState * | mPreGrasp |
| Search State stores the actual grasps. | |
| std::vector< double > | mTestScores |
| Stores the test scores in cross correlation. | |
This is the class to define the data entry of grasps in CGDB
Definition at line 49 of file graspit_db_grasp.h.
| GraspitDBGrasp::GraspitDBGrasp | ( | const GraspitDBGrasp & | grasp2 | ) |
copy another grasp
Definition at line 60 of file graspit_db_grasp.cpp.
| GraspitDBGrasp::GraspitDBGrasp | ( | Hand * | h | ) | [inline] |
Definition at line 59 of file graspit_db_grasp.h.
| GraspitDBGrasp::~GraspitDBGrasp | ( | ) |
Definition at line 54 of file graspit_db_grasp.cpp.
| void GraspitDBGrasp::addTestScore | ( | double | s | ) | [inline] |
Records the test score in the memory, not in CGDB, these scores will not be stored.
Definition at line 71 of file graspit_db_grasp.h.
| const GraspPlanningState* GraspitDBGrasp::getFinalGraspPlanningState | ( | ) | const [inline] |
Returns the final-grasp of this GraspitDBGrasp.
Definition at line 68 of file graspit_db_grasp.h.
| GraspPlanningState* GraspitDBGrasp::getFinalGraspPlanningState | ( | ) | [inline] |
Returns the final-grasp of this GraspitDBGrasp.
Definition at line 64 of file graspit_db_grasp.h.
| const Hand* GraspitDBGrasp::getHand | ( | ) | const [inline] |
Returns the hand associated with this grasp.
Definition at line 93 of file graspit_db_grasp.h.
| QString GraspitDBGrasp::getHandDBName | ( | Hand * | h | ) | [static] |
Returns the corresponding hand name in CGDB.
get the hand name that is in the CGDB
Definition at line 181 of file graspit_db_grasp.cpp.
| QString GraspitDBGrasp::getHandGraspitPath | ( | QString | handDBName | ) | [static] |
Returns the GraspIt path for loading a hand based on its db name.
Definition at line 217 of file graspit_db_grasp.cpp.
| int GraspitDBGrasp::getNumTestScores | ( | ) | [inline] |
Returns the number of tests that have just been done.
Definition at line 75 of file graspit_db_grasp.h.
| const GraspPlanningState* GraspitDBGrasp::getPreGraspPlanningState | ( | ) | const [inline] |
Returns the pre-grasp of this GraspitDBGrasp.
Definition at line 66 of file graspit_db_grasp.h.
| GraspPlanningState* GraspitDBGrasp::getPreGraspPlanningState | ( | ) | [inline] |
Returns the pre-grasp of this GraspitDBGrasp.
Definition at line 62 of file graspit_db_grasp.h.
| double GraspitDBGrasp::getTestAverageScore | ( | ) |
Returns the average of the scores of the past tests.
get the average test scores stored in this grasp
Definition at line 123 of file graspit_db_grasp.cpp.
| double GraspitDBGrasp::getTestScore | ( | int | i | ) | [inline] |
Returns the score of the i-th test.
Definition at line 73 of file graspit_db_grasp.h.
| void GraspitDBGrasp::setFinalGraspPlanningState | ( | GraspPlanningState * | p | ) |
Set the finalgrasp planning state.
Modify the original finalgrasp and contacts in db_planner::grasp as well
Definition at line 154 of file graspit_db_grasp.cpp.
| virtual bool GraspitDBGrasp::SetGraspParameters | ( | const vector< double > & | pregrasp_joints, | |
| const vector< double > & | pregrasp_position, | |||
| const vector< double > & | grasp_joints, | |||
| const vector< double > & | grasp_position | |||
| ) | [virtual] |
Set the joints and positions of the pre-grasp and final grasp, the base class should have no idea of what GraspitDBGrasp looks like
Reimplemented from db_planner::Grasp.
| void GraspitDBGrasp::setPreGraspPlanningState | ( | GraspPlanningState * | p | ) |
Set the pregrasp planning state and modify the original pregrasp in db_planner::grasp as well.
Definition at line 136 of file graspit_db_grasp.cpp.
| bool GraspitDBGrasp::Transform | ( | const float | array[16] | ) | [virtual] |
Transform this grasp.
transform this grasp by the transformation defined by array
Reimplemented from db_planner::Grasp.
Definition at line 83 of file graspit_db_grasp.cpp.
GraspPlanningState * GraspitDBGrasp::mFinalGrasp [private] |
Definition at line 51 of file graspit_db_grasp.h.
Hand* GraspitDBGrasp::mHand [private] |
The hand associated with this grasp.
Definition at line 55 of file graspit_db_grasp.h.
GraspPlanningState* GraspitDBGrasp::mPreGrasp [private] |
Search State stores the actual grasps.
Definition at line 51 of file graspit_db_grasp.h.
std::vector<double> GraspitDBGrasp::mTestScores [private] |
Stores the test scores in cross correlation.
Definition at line 53 of file graspit_db_grasp.h.
