/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/grasp.cpp File Reference

Implements the grasp class, which analyzes grasps. More...

#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <iostream>
#include <exception>
#include <typeinfo>
#include <QString>
#include <q3listbox.h>
#include "grasp.h"
#include "world.h"
#include "robot.h"
#include "joint.h"
#include "body.h"
#include "contact.h"
#include "gws.h"
#include <vector>
#include <set>
#include "matvec3D.h"
#include "quality.h"
#include "matrix.h"
#include "lapack_wrappers.h"
#include <Inventor/Qt/SoQtComponent.h>
#include "debug.h"

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Defines
#define	G_   9.81
Functions
int	contactForceExistence (Matrix &F, Matrix &N, Matrix &Q, Matrix &beta, double *objVal)
int	contactForceOptimization (Matrix &F, Matrix &N, Matrix &Q, Matrix &beta, double *objVal)
int	graspForceExistence (Matrix &JTD, Matrix &D, Matrix &F, Matrix &G, Matrix &beta, Matrix &tau, double *objVal)
int	graspForceOptimization (Matrix &JTD, Matrix &D, Matrix &F, Matrix &G, Matrix &beta, Matrix &tau, double *objVal)

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Detailed Description

Implements the grasp class, which analyzes grasps.

Definition in file grasp.cpp.

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Define Documentation

#define G_   9.81

Definition at line 69 of file grasp.cpp.

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Function Documentation

int contactForceExistence	(	Matrix &	F,
		Matrix &	N,
		Matrix &	Q,
		Matrix &	beta,
		double *	objVal
	)

One possible formulation of the core GFO problem. Checks if some combination of contacts forces exists so that the resultant object wrench is 0. See inner comments for exact mathematical formulation. Not for standalone use; is called by the GFO functions in the Grasp class.

Definition at line 1003 of file grasp.cpp.

int contactForceOptimization	(	Matrix &	F,
		Matrix &	N,
		Matrix &	Q,
		Matrix &	beta,
		double *	objVal
	)

One possible formulation of the core GFO problem. Finds the contacts forces that result in 0 object wrench and are as far as possible from the edges of the friction cones. Assumes that at least one set of contact forces that satisfy this criterion exist; see contactForceExistence for that problem. See inner comments for exact mathematical formulation. Not for standalone use; is called by the GFO functions in the Grasp class.

Definition at line 1052 of file grasp.cpp.

int graspForceExistence	(	Matrix &	JTD,
		Matrix &	D,
		Matrix &	F,
		Matrix &	G,
		Matrix &	beta,
		Matrix &	tau,
		double *	objVal
	)

One possible formulation of the core GFO problem. Checks if some combination of joint forces exists so that the resultant object wrench is 0. See inner comments for exact mathematical formulation. Not for standalone use; is called by the GFO functions in the Grasp class.

Definition at line 915 of file grasp.cpp.

int graspForceOptimization	(	Matrix &	JTD,
		Matrix &	D,
		Matrix &	F,
		Matrix &	G,
		Matrix &	beta,
		Matrix &	tau,
		double *	objVal
	)

One possible formulation of the core GFO problem. Finds the joint forces that result in 0 object wrench such that contact forces are as far as possible from the edges of the friction cones. Assumes that at least one set of contact forces that satisfy this criterion exist; see contactForceExistence for that problem. See inner comments for exact mathematical formulation. Not for standalone use; is called by the GFO functions in the Grasp class.

Definition at line 1112 of file grasp.cpp.