/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/Planner/grasp_planner.h File Reference

Defines the grasp_planner class (part of grasp planner). More...

#include "matvec3D.h"
#include <Inventor/SoLists.h>
#include <vector>

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Classes
class	grasp_planner
	This class is used to automatically generate a set of candidate grasps given a set of shape primitives for an object. More...
Defines
#define	DEFAULT_PARAMETER_MODE   2
#define	DELTA_360_DEG_ERROR   0.0001
#define	GP_MAX_CONE_BGRASP_DIAMETER   180.0
#define	GP_MAX_CONE_EDGEGRASP_DIAMETER   180.0
#define	GP_MAX_CONE_EDGEGRASP_HEIGHT   100000.0
#define	GP_MAX_CONE_SIDEGRASP_DIAMETER   100000.0
#define	GP_MAX_CONE_SIDEGRASP_HEIGHT   100000.0
#define	GP_MAX_CONE_TGRASP_DIAMETER   100000.0
#define	GP_MAX_CUBE_SIZE   200.0
#define	GP_MAX_CYL_SIDEGRASP_DIAMETER   180.0
#define	GP_MAX_CYL_SIDEGRASP_HEIGHT   200.0
#define	GP_MAX_CYL_TBGRASP_DIAMETER   180.0
#define	GP_MAX_SPH_DIAMETER   180.0
#define	GP_MIN_CONE_BGRASP_DIAMETER   5.0
#define	GP_MIN_CONE_BGRASP_HEIGHT   0.0
#define	GP_MIN_CONE_EDGEGRASP_DIAMETER   0.0
#define	GP_MIN_CONE_EDGEGRASP_HEIGHT   28.0
#define	GP_MIN_CONE_SIDEGRASP_DIAMETER   0.0
#define	GP_MIN_CONE_SIDEGRASP_HEIGHT   0.0
#define	GP_MIN_CONE_TGRASP_DIAMETER   5.0
#define	GP_MIN_CONE_TGRASP_HEIGHT   0.0
#define	GP_MIN_CUBE_SIZE   0.0
#define	GP_MIN_CYL_SIDEGRASP_DIAMETER   0.0
#define	GP_MIN_CYL_SIDEGRASP_HEIGHT   28.0
#define	GP_MIN_CYL_TBGRASP_DIAMETER   5.0
#define	GP_MIN_CYL_TBGRASP_HEIGHT   40.0
#define	GP_MIN_SPH_DIAMETER   0.0
#define	NR_OF_180_DEG_GRASPS   1
#define	NR_OF_360_DEG_STEPS   2
#define	NR_OF_GRASP_ROTATIONS   1
#define	NR_OF_PARALLEL_PLANES   1
#define	PRESHAPE_CONE_EDGE_GRASP   PR_two_opp_one
#define	PRESHAPE_CONE_SIDE_GRASP   PR_two_opp_one
#define	PRESHAPE_CONE_TOP_BOTTOM_GRASP   PR_circle
#define	PRESHAPE_CUBE_GRASP   PR_two_opp_one
#define	PRESHAPE_CYLINDER_SIDE_GRASP   PR_two_opp_one
#define	PRESHAPE_CYLINDER_TOP_BOTTOM_GRASP   PR_circle
#define	PRESHAPE_SPHERE_GRASP   PR_circle
#define	STARTING_DISTANCE   80.0
Typedefs
typedef std::pair< Body *, Body * >	BodyPair

---

Detailed Description

Defines the grasp_planner class (part of grasp planner).

Definition in file grasp_planner.h.

---

Define Documentation

#define DEFAULT_PARAMETER_MODE   2

Definition at line 69 of file grasp_planner.h.

#define DELTA_360_DEG_ERROR   0.0001

Definition at line 150 of file grasp_planner.h.

#define GP_MAX_CONE_BGRASP_DIAMETER   180.0

Definition at line 112 of file grasp_planner.h.

#define GP_MAX_CONE_EDGEGRASP_DIAMETER   180.0

Definition at line 128 of file grasp_planner.h.

#define GP_MAX_CONE_EDGEGRASP_HEIGHT   100000.0

Definition at line 134 of file grasp_planner.h.

#define GP_MAX_CONE_SIDEGRASP_DIAMETER   100000.0

Definition at line 118 of file grasp_planner.h.

#define GP_MAX_CONE_SIDEGRASP_HEIGHT   100000.0

Definition at line 124 of file grasp_planner.h.

#define GP_MAX_CONE_TGRASP_DIAMETER   100000.0

Definition at line 106 of file grasp_planner.h.

#define GP_MAX_CUBE_SIZE   200.0

Definition at line 76 of file grasp_planner.h.

#define GP_MAX_CYL_SIDEGRASP_DIAMETER   180.0

Definition at line 82 of file grasp_planner.h.

#define GP_MAX_CYL_SIDEGRASP_HEIGHT   200.0

Definition at line 88 of file grasp_planner.h.

#define GP_MAX_CYL_TBGRASP_DIAMETER   180.0

Definition at line 93 of file grasp_planner.h.

#define GP_MAX_SPH_DIAMETER   180.0

Definition at line 100 of file grasp_planner.h.

#define GP_MIN_CONE_BGRASP_DIAMETER   5.0

Definition at line 113 of file grasp_planner.h.

#define GP_MIN_CONE_BGRASP_HEIGHT   0.0

Definition at line 114 of file grasp_planner.h.

#define GP_MIN_CONE_EDGEGRASP_DIAMETER   0.0

Definition at line 129 of file grasp_planner.h.

#define GP_MIN_CONE_EDGEGRASP_HEIGHT   28.0

Definition at line 130 of file grasp_planner.h.

#define GP_MIN_CONE_SIDEGRASP_DIAMETER   0.0

Definition at line 119 of file grasp_planner.h.

#define GP_MIN_CONE_SIDEGRASP_HEIGHT   0.0

Definition at line 120 of file grasp_planner.h.

#define GP_MIN_CONE_TGRASP_DIAMETER   5.0

Definition at line 107 of file grasp_planner.h.

#define GP_MIN_CONE_TGRASP_HEIGHT   0.0

Definition at line 108 of file grasp_planner.h.

#define GP_MIN_CUBE_SIZE   0.0

Definition at line 77 of file grasp_planner.h.

#define GP_MIN_CYL_SIDEGRASP_DIAMETER   0.0

Definition at line 83 of file grasp_planner.h.

#define GP_MIN_CYL_SIDEGRASP_HEIGHT   28.0

Definition at line 84 of file grasp_planner.h.

#define GP_MIN_CYL_TBGRASP_DIAMETER   5.0

Definition at line 94 of file grasp_planner.h.

#define GP_MIN_CYL_TBGRASP_HEIGHT   40.0

Definition at line 95 of file grasp_planner.h.

#define GP_MIN_SPH_DIAMETER   0.0

Definition at line 101 of file grasp_planner.h.

#define NR_OF_180_DEG_GRASPS   1

Definition at line 62 of file grasp_planner.h.

#define NR_OF_360_DEG_STEPS   2

Definition at line 50 of file grasp_planner.h.

#define NR_OF_GRASP_ROTATIONS   1

Definition at line 66 of file grasp_planner.h.

#define NR_OF_PARALLEL_PLANES   1

Definition at line 56 of file grasp_planner.h.

#define PRESHAPE_CONE_EDGE_GRASP   PR_two_opp_one

Definition at line 145 of file grasp_planner.h.

#define PRESHAPE_CONE_SIDE_GRASP   PR_two_opp_one

Definition at line 144 of file grasp_planner.h.

#define PRESHAPE_CONE_TOP_BOTTOM_GRASP   PR_circle

Definition at line 143 of file grasp_planner.h.

#define PRESHAPE_CUBE_GRASP   PR_two_opp_one

Definition at line 139 of file grasp_planner.h.

#define PRESHAPE_CYLINDER_SIDE_GRASP   PR_two_opp_one

Definition at line 141 of file grasp_planner.h.

#define PRESHAPE_CYLINDER_TOP_BOTTOM_GRASP   PR_circle

Definition at line 140 of file grasp_planner.h.

#define PRESHAPE_SPHERE_GRASP   PR_circle

Definition at line 142 of file grasp_planner.h.

#define STARTING_DISTANCE   80.0

Definition at line 43 of file grasp_planner.h.

---

Typedef Documentation

typedef std::pair<Body *,Body *> BodyPair

Definition at line 159 of file grasp_planner.h.