db_planner::Grasp Class Reference

#include <grasp.h>

Inheritance diagram for db_planner::Grasp:

[legend]

List of all members.

Public Member Functions
double	Clearance () const
bool	ClusterRep () const
bool	CompliantCopy () const
int	CompliantOriginalId () const
double	Energy () const
double	EpsilonQuality () const
vector< double >	GetContacts () const
vector< double >	GetFinalgraspJoints () const
vector< double >	GetFinalgraspPosition () const
vector< double >	GetPregraspJoints () const
vector< double >	GetPregraspPosition () const
string	GetSource () const
int	GraspId () const
const string &	HandName () const
void	SetClearance (double clearance)
void	SetClusterRep (bool c)
void	SetCompliantCopy (bool c)
void	SetCompliantOriginalId (int id)
void	SetContacts (const vector< double > &contacts)
void	SetEnergy (const double energy)
void	SetEpsilonQuality (const double epsilon_quality)
void	SetFinalgraspJoints (const vector< double > &finalgraspJoints)
void	SetFinalgraspPosition (const vector< double > &finalgraspPosition)
void	SetGraspId (const int grasp_id)
virtual bool	SetGraspParameters (const vector< double > &, const vector< double > &, const vector< double > &, const vector< double > &)
void	SetHandName (const string &hand_name)
void	SetPregraspJoints (const vector< double > &pregraspJoints)
void	SetPregraspPosition (const vector< double > &pregraspPosition)
void	SetSource (string source)
void	SetSourceModel (const Model &source_model)
void	SetTableClearance (double clearance)
void	SetVolumeQuality (const double volume_quality)
const Model &	SourceModel () const
double	TableClearance () const
virtual bool	Transform (const float[16])
	Transform a grasp by some 4x4 transform.
double	VolumeQuality () const
virtual	~Grasp ()
Static Public Member Functions
static bool	CompareEnergy (const Grasp *g1, const Grasp *g2)
static bool	CompareEpsilon (const Grasp *g1, const Grasp *g2)
static bool	CompareVolume (const Grasp *g1, const Grasp *g2)
Private Attributes
bool	cluster_rep_
	Whether this grasp is the representative of a cluster around it.
bool	compliant_copy_
	Whether this grasp is the same (modulo compliant close) with another grasp in the database (PR2 specific).
int	compliant_original_id_
	If compliant_copy_ is true, the id of the original grasp that this one is similar to.
vector< double >	contacts_
double	energy_
	Quality value as used by automated grasp planners.
double	epsilon_quality_
	Ferrari-Canny quality measures.
vector< double >	final_grasp_joints_
vector< double >	final_grasp_position_
int	grasp_id_
	The id of the grasp from the database.
string	hand_name_
	The name of the hand the grasp is for.
double	pregrasp_clearance_
	The min distance between hand and object for pre-grasp.
vector< double >	pregrasp_joints_
	The actual parameters of the grasp.
vector< double >	pregrasp_position_
string	source_
	The source of this grasp: EGPlanner, human operator, etc.
const Model *	source_model_
	The model being grasped.
double	table_clearance_
	The distance between the hand and a table below the object oriented along the z axis.
double	volume_quality_

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Detailed Description

Definition at line 42 of file grasp.h.

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Constructor & Destructor Documentation

virtual db_planner::Grasp::~Grasp

(

)

[inline, virtual]

Definition at line 70 of file grasp.h.

---

Member Function Documentation

double db_planner::Grasp::Clearance

(

)

const [inline]

Definition at line 105 of file grasp.h.

bool db_planner::Grasp::ClusterRep

(

)

const [inline]

Definition at line 109 of file grasp.h.

static bool db_planner::Grasp::CompareEnergy	(	const Grasp *	g1,
		const Grasp *	g2
	)			[inline, static]

Definition at line 127 of file grasp.h.

static bool db_planner::Grasp::CompareEpsilon	(	const Grasp *	g1,
		const Grasp *	g2
	)			[inline, static]

Definition at line 130 of file grasp.h.

static bool db_planner::Grasp::CompareVolume	(	const Grasp *	g1,
		const Grasp *	g2
	)			[inline, static]

Definition at line 133 of file grasp.h.

bool db_planner::Grasp::CompliantCopy

(

)

const [inline]

Definition at line 111 of file grasp.h.

int db_planner::Grasp::CompliantOriginalId

(

)

const [inline]

Definition at line 113 of file grasp.h.

double db_planner::Grasp::Energy

(

)

const [inline]

Definition at line 103 of file grasp.h.

double db_planner::Grasp::EpsilonQuality

(

)

const [inline]

Definition at line 101 of file grasp.h.

vector<double> db_planner::Grasp::GetContacts

(

)

const [inline]

Definition at line 85 of file grasp.h.

vector<double> db_planner::Grasp::GetFinalgraspJoints

(

)

const [inline]

Definition at line 83 of file grasp.h.

vector<double> db_planner::Grasp::GetFinalgraspPosition

(

)

const [inline]

Definition at line 84 of file grasp.h.

vector<double> db_planner::Grasp::GetPregraspJoints

(

)

const [inline]

Definition at line 81 of file grasp.h.

vector<double> db_planner::Grasp::GetPregraspPosition

(

)

const [inline]

Definition at line 82 of file grasp.h.

string db_planner::Grasp::GetSource

(

)

const [inline]

Definition at line 98 of file grasp.h.

int db_planner::Grasp::GraspId

(

)

const [inline]

Definition at line 104 of file grasp.h.

const string& db_planner::Grasp::HandName

(

)

const [inline]

Definition at line 100 of file grasp.h.

void db_planner::Grasp::SetClearance

(

double

clearance

)

[inline]

Definition at line 106 of file grasp.h.

void db_planner::Grasp::SetClusterRep

(

bool

c

)

[inline]

Definition at line 110 of file grasp.h.

void db_planner::Grasp::SetCompliantCopy

(

bool

c

)

[inline]

Definition at line 112 of file grasp.h.

void db_planner::Grasp::SetCompliantOriginalId

(

int

id

)

[inline]

Definition at line 114 of file grasp.h.

void db_planner::Grasp::SetContacts

(

const vector< double > &

contacts

)

[inline]

Definition at line 79 of file grasp.h.

void db_planner::Grasp::SetEnergy

(

const double

energy

)

[inline]

Definition at line 93 of file grasp.h.

void db_planner::Grasp::SetEpsilonQuality

(

const double

epsilon_quality

)

[inline]

Definition at line 87 of file grasp.h.

void db_planner::Grasp::SetFinalgraspJoints

(

const vector< double > &

finalgraspJoints

)

[inline]

Definition at line 77 of file grasp.h.

void db_planner::Grasp::SetFinalgraspPosition

(

const vector< double > &

finalgraspPosition

)

[inline]

Definition at line 78 of file grasp.h.

void db_planner::Grasp::SetGraspId

(

const int

grasp_id

)

[inline]

Definition at line 96 of file grasp.h.

virtual bool db_planner::Grasp::SetGraspParameters	(	const vector< double > &	,
		const vector< double > &	,
		const vector< double > &	,
		const vector< double > &
	)			[inline, virtual]

Reimplemented in GraspitDBGrasp.

Definition at line 120 of file grasp.h.

void db_planner::Grasp::SetHandName

(

const string &

hand_name

)

[inline]

Definition at line 74 of file grasp.h.

void db_planner::Grasp::SetPregraspJoints

(

const vector< double > &

pregraspJoints

)

[inline]

Definition at line 75 of file grasp.h.

void db_planner::Grasp::SetPregraspPosition

(

const vector< double > &

pregraspPosition

)

[inline]

Definition at line 76 of file grasp.h.

void db_planner::Grasp::SetSource

(

string

source

)

[inline]

Definition at line 97 of file grasp.h.

void db_planner::Grasp::SetSourceModel

(

const Model &

source_model

)

[inline]

Definition at line 71 of file grasp.h.

void db_planner::Grasp::SetTableClearance

(

double

clearance

)

[inline]

Definition at line 108 of file grasp.h.

void db_planner::Grasp::SetVolumeQuality

(

const double

volume_quality

)

[inline]

Definition at line 90 of file grasp.h.

const Model& db_planner::Grasp::SourceModel

(

)

const [inline]

Definition at line 99 of file grasp.h.

double db_planner::Grasp::TableClearance

(

)

const [inline]

Definition at line 107 of file grasp.h.

virtual bool db_planner::Grasp::Transform

(

const

float[16]

)

[inline, virtual]

Transform a grasp by some 4x4 transform.

Transforms are and column major (?). This base implementation always fails.

Reimplemented in GraspitDBGrasp.

Definition at line 119 of file grasp.h.

double db_planner::Grasp::VolumeQuality

(

)

const [inline]

Definition at line 102 of file grasp.h.

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Member Data Documentation

bool db_planner::Grasp::cluster_rep_ [private]

Whether this grasp is the representative of a cluster around it.

Definition at line 59 of file grasp.h.

bool db_planner::Grasp::compliant_copy_ [private]

Whether this grasp is the same (modulo compliant close) with another grasp in the database (PR2 specific).

Definition at line 65 of file grasp.h.

int db_planner::Grasp::compliant_original_id_ [private]

If compliant_copy_ is true, the id of the original grasp that this one is similar to.

Definition at line 67 of file grasp.h.

vector<double> db_planner::Grasp::contacts_ [private]

Definition at line 63 of file grasp.h.

double db_planner::Grasp::energy_ [private]

Quality value as used by automated grasp planners.

Definition at line 55 of file grasp.h.

double db_planner::Grasp::epsilon_quality_ [private]

Ferrari-Canny quality measures.

Definition at line 53 of file grasp.h.

vector<double> db_planner::Grasp::final_grasp_joints_ [private]

Definition at line 63 of file grasp.h.

vector<double> db_planner::Grasp::final_grasp_position_ [private]

Definition at line 63 of file grasp.h.

int db_planner::Grasp::grasp_id_ [private]

The id of the grasp from the database.

Definition at line 47 of file grasp.h.

string db_planner::Grasp::hand_name_ [private]

The name of the hand the grasp is for.

Definition at line 51 of file grasp.h.

double db_planner::Grasp::pregrasp_clearance_ [private]

The min distance between hand and object for pre-grasp.

Definition at line 57 of file grasp.h.

vector<double> db_planner::Grasp::pregrasp_joints_ [private]

The actual parameters of the grasp.

Definition at line 63 of file grasp.h.

vector<double> db_planner::Grasp::pregrasp_position_ [private]

Definition at line 63 of file grasp.h.

string db_planner::Grasp::source_ [private]

The source of this grasp: EGPlanner, human operator, etc.

Definition at line 49 of file grasp.h.

const Model* db_planner::Grasp::source_model_ [private]

The model being grasped.

Definition at line 45 of file grasp.h.

double db_planner::Grasp::table_clearance_ [private]

The distance between the hand and a table below the object oriented along the z axis.

Definition at line 61 of file grasp.h.

double db_planner::Grasp::volume_quality_ [private]

Definition at line 53 of file grasp.h.

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

• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/DBase/DBPlanner/grasp.h