ICR Namespace Reference

Classes
class	ContactPoint
	Contains the coordinates of a ICR::TargetObject's vertex and its corresponding vertex normal, as well as a unique id and a list of id's of neighboring points. More...
class	DiscreteWrenchSpace
	A discrete 6D-wrench space used to describe the Grasp Wrench Space in ICR::Grasp. More...
class	Finger
	Holds a ICR::ContactPoint::id_ describing where on the target object the finger is centered as well as pointers to a list of patches, an ICR::OWS and a ICR::PointContactModel. More...
class	FingerParameters
	Describes contact force magnitude, friction cone discretization, friction coefficient, torsional friction coefficient, contact type, contact model type and the patch inclusion rule for a ICR::Finger. More...
class	Grasp
	The central class of the icrcpp library; Holds a list of ICR::Finger and a ICR::DiscreteWrenchSpace describing the Grasp Wrench Space. More...
struct	InclusionRule
	Describes a volume centered on a vertex of the target object; The id's of all vertices within this volume form a patch on the target object's surface. More...
class	IndependentContactRegions
	Holds shared pointers to the prototype ICR::Grasp and previously computed ICR::SearchZones; checks the contact points on the target object's surface for inclusion in the independent regions. More...
class	LimitSurface
	A disc parametrized by the contact force magnitude, the friction coefficient and the torsional friction coefficient according to "Howe, R.D and Cutkosky, M - Practical Force-Motion Models for Sliding Manipulation; IJRR,1996". More...
class	MultiPointContactModel
	Derived from ICR::PointContactModel, has an additional member ICR::InclusionRule. More...
struct	Node
	A std::list<ICR::Node> acts as a FIFO list during the breadth-first computation of which points qualify for patch inclusion in ICR::Patch(uint centerpoint_id,TargetObject const& obj, InclusionRule const& rule) More...
class	ObjectLoader
	Loads object models provided in the Wavefront .obj format and builds a ICR::TargetObject. More...
class	OWS
	Holds a list of ICR::WrenchCone pointers describing the Object Wrench Space of the parent object. More...
struct	Patch
	Contains the id's of points forming a patch on the target object's surface in ICR::Patch::patch_ids_. More...
class	PointContactModel
	Base class for the ICR::MultiPointContactModel, holds a ICR::LimitSurface. More...
struct	PrimitiveSearchZone
	Used in ICR::IndependentContactRegions::primitiveSearchZoneInclusionTest to determine whether a contact point associated to a wrench cone is eligible for inclusion in the independent regions. More...
class	SearchZones
	Holds a std::vector of ICR::SearchZone pointers, one for each finger of the associated prototype grasp. More...
class	SphericalWrenchSpace
	A 6D-sphere used to describe a continous Task Wrench Space in ICR::SearchZones. More...
class	TargetObject
	Created by ICR::ObjectLoader; Holds the name of the loaded object and a ICR::ContactPointList describing the object. More...
class	WrenchCone
	Holds a matrix of prmimitve wrenches; The wrench cone id is the same as the id of the corresponding contact point. More...
class	WrenchSpace
	Base class from which ICR::SphericalWrenchSpace and ICR::DiscreteWrenchSpace are derived. More...
Typedefs
typedef Eigen::Array< uint, 1, 6 >	Array6ui
typedef Eigen::Array< uint, Eigen::Dynamic, 6 >	ArrayX6ui
typedef std::list< uint > ::const_iterator	ConstIndexListIterator
typedef std::vector < ContactPoint * >	ContactPointList
typedef std::vector< Patch * >	ContactRegion
typedef std::vector < std::tr1::shared_ptr< Finger > >	FingerPtrList
typedef std::vector < FingerParameters >	FParamList
typedef std::tr1::shared_ptr < Grasp >	GraspPtr
typedef std::tr1::shared_ptr < IndependentContactRegions >	IndependentContactRegionsPtr
typedef std::list< uint >	IndexList
typedef std::list< uint >::iterator	IndexListIterator
typedef Eigen::Matrix< double, 6, Eigen::Dynamic >	Matrix6Xd
typedef Eigen::Matrix< uint, Eigen::Dynamic, 6 >	MatrixX6ui
typedef std::tr1::shared_ptr< OWS >	OWSPtr
typedef std::tr1::shared_ptr < std::vector< Patch * > >	PatchListPtr
typedef Eigen::Matrix< uint, 1, Eigen::Dynamic >	RowVectorXui
typedef std::vector < PrimitiveSearchZone * >	SearchZone
typedef std::tr1::shared_ptr < SearchZones >	SearchZonesPtr
typedef std::tr1::shared_ptr < TargetObject >	TargetObjectPtr
typedef unsigned int	uint
typedef Eigen::Matrix< double, 6, 1 >	Vector6d
typedef Eigen::Matrix< uint, Eigen::Dynamic, 1 >	VectorXui
typedef std::vector< WrenchCone * >	WrenchConeList
Enumerations
enum	ContactType { Undefined_CT = 1, Frictionless, Frictional, Soft_Finger }
enum	ModelType { Undefined_MT = 1, Single_Point, Multi_Point }
enum	RuleType { Undefined_RT = 1, Sphere }
enum	WrenchSpaceType { Undefined_WS = 1, Discrete, Spherical }
Functions
uint	dfactorial (uint x)
uint	factorial (uint x)
std::ostream &	operator<< (std::ostream &stream, PrimitiveSearchZone const &psz)
std::ostream &	operator<< (std::ostream &stream, WrenchCone const &wrench_cone)
std::ostream &	operator<< (std::ostream &stream, TargetObject const &obj)
std::ostream &	operator<< (std::ostream &stream, ObjectLoader const &obj_loader)
std::ostream &	operator<< (std::ostream &stream, Grasp const &grasp)
std::ostream &	operator<< (std::ostream &stream, OWS const &ows)
std::ostream &	operator<< (std::ostream &stream, ContactPoint const &cp)
std::ostream &	operator<< (std::ostream &stream, InclusionRule const &inclusion_rule)
std::ostream &	operator<< (std::ostream &stream, IndependentContactRegions const &icr)
std::ostream &	operator<< (std::ostream &stream, SearchZones const &sz)
std::ostream &	operator<< (std::ostream &stream, Node const &node)
std::ostream &	operator<< (std::ostream &stream, PointContactModel const &pc_model)
std::ostream &	operator<< (std::ostream &stream, SphericalWrenchSpace const &s_wrench_space)
std::ostream &	operator<< (std::ostream &stream, LimitSurface const &lim_surf)
std::ostream &	operator<< (std::ostream &stream, Patch const &patch)
std::ostream &	operator<< (std::ostream &stream, DiscreteWrenchSpace const &d_wrench_space)
std::ostream &	operator<< (std::ostream &stream, FingerParameters const &param)
std::ostream &	operator<< (std::ostream &stream, Finger const &finger)
Eigen::Matrix3d	skewSymmetricMatrix (Eigen::Vector3d vector)
Variables
TargetObject *	callback_obj_ptr = NULL
bool	face_callback_run = false
Eigen::VectorXi	map_normal2vertex
std::vector< double * >	normals_buffer
std::vector< double * >	points_buffer

---

Typedef Documentation

typedef Eigen::Array<uint,1,6> ICR::Array6ui

Definition at line 57 of file include/utilities.h.

typedef Eigen::Array<uint,Eigen::Dynamic,6> ICR::ArrayX6ui

Definition at line 56 of file include/utilities.h.

typedef std::list<uint>::const_iterator ICR::ConstIndexListIterator

Definition at line 61 of file include/utilities.h.

typedef std::vector<ContactPoint*> ICR::ContactPointList

Definition at line 62 of file include/utilities.h.

typedef std::vector<Patch*> ICR::ContactRegion

Definition at line 66 of file include/utilities.h.

typedef std::vector<std::tr1::shared_ptr<Finger> > ICR::FingerPtrList

Definition at line 72 of file include/utilities.h.

typedef std::vector<FingerParameters> ICR::FParamList

Definition at line 65 of file include/utilities.h.

typedef std::tr1::shared_ptr<Grasp> ICR::GraspPtr

Definition at line 68 of file include/utilities.h.

typedef std::tr1::shared_ptr<IndependentContactRegions> ICR::IndependentContactRegionsPtr

Definition at line 73 of file include/utilities.h.

typedef std::list<uint> ICR::IndexList

Definition at line 59 of file include/utilities.h.

typedef std::list<uint>::iterator ICR::IndexListIterator

Definition at line 60 of file include/utilities.h.

typedef Eigen::Matrix<double,6,Eigen::Dynamic> ICR::Matrix6Xd

Definition at line 52 of file include/utilities.h.

typedef Eigen::Matrix<uint,Eigen::Dynamic,6> ICR::MatrixX6ui

Definition at line 55 of file include/utilities.h.

typedef std::tr1::shared_ptr<OWS> ICR::OWSPtr

Definition at line 70 of file include/utilities.h.

typedef std::tr1::shared_ptr<std::vector<Patch*> > ICR::PatchListPtr

Definition at line 71 of file include/utilities.h.

typedef Eigen::Matrix<uint,1, Eigen::Dynamic > ICR::RowVectorXui

Definition at line 53 of file include/utilities.h.

typedef std::vector<PrimitiveSearchZone*> ICR::SearchZone

Definition at line 64 of file include/utilities.h.

typedef std::tr1::shared_ptr<SearchZones> ICR::SearchZonesPtr

Definition at line 69 of file include/utilities.h.

typedef std::tr1::shared_ptr<TargetObject> ICR::TargetObjectPtr

Definition at line 67 of file include/utilities.h.

typedef unsigned int ICR::uint

Definition at line 51 of file include/utilities.h.

typedef Eigen::Matrix<double,6,1> ICR::Vector6d

Definition at line 54 of file include/utilities.h.

typedef Eigen::Matrix<uint,Eigen::Dynamic,1> ICR::VectorXui

Definition at line 58 of file include/utilities.h.

typedef std::vector<WrenchCone* > ICR::WrenchConeList

Definition at line 63 of file include/utilities.h.

---

Enumeration Type Documentation

enum ICR::ContactType

Enumerator:

Undefined_CT
Frictionless
Frictional
Soft_Finger

Definition at line 46 of file include/utilities.h.

enum ICR::ModelType

Enumerator:

Undefined_MT
Single_Point
Multi_Point

Definition at line 47 of file include/utilities.h.

enum ICR::RuleType

Enumerator:

Undefined_RT
Sphere

Definition at line 48 of file include/utilities.h.

enum ICR::WrenchSpaceType

Enumerator:

Undefined_WS
Discrete
Spherical

Definition at line 49 of file include/utilities.h.

---

Function Documentation

uint ICR::dfactorial

(

uint

x

)

Definition at line 25 of file utilities.cpp.

uint ICR::factorial

(

uint

x

)

Definition at line 19 of file utilities.cpp.

std::ostream& ICR::operator<<	(	std::ostream &	stream,
		PrimitiveSearchZone const &	psz
	)

Definition at line 12 of file search_zones.cpp.

std::ostream& ICR::operator<<	(	std::ostream &	stream,
		WrenchCone const &	wrench_cone
	)

Definition at line 27 of file wrench_cone.cpp.

std::ostream& ICR::operator<<	(	std::ostream &	stream,
		TargetObject const &	obj
	)

Definition at line 28 of file target_object.cpp.

std::ostream& ICR::operator<<	(	std::ostream &	stream,
		ObjectLoader const &	obj_loader
	)

Definition at line 29 of file object_loader.cpp.

std::ostream& ICR::operator<<	(	std::ostream &	stream,
		Grasp const &	grasp
	)

Definition at line 30 of file grasp.cpp.

std::ostream& ICR::operator<<	(	std::ostream &	stream,
		OWS const &	ows
	)

Definition at line 33 of file ows.cpp.

std::ostream& ICR::operator<<	(	std::ostream &	stream,
		ContactPoint const &	cp
	)

Definition at line 48 of file contact_point.cpp.

std::ostream& ICR::operator<<	(	std::ostream &	stream,
		InclusionRule const &	inclusion_rule
	)

Definition at line 49 of file finger.cpp.

std::ostream& ICR::operator<<	(	std::ostream &	stream,
		IndependentContactRegions const &	icr
	)

Definition at line 53 of file independent_contact_regions.cpp.

std::ostream& ICR::operator<<	(	std::ostream &	stream,
		SearchZones const &	sz
	)

Definition at line 57 of file search_zones.cpp.

std::ostream& ICR::operator<<	(	std::ostream &	stream,
		Node const &	node
	)

Definition at line 70 of file finger.cpp.

std::ostream& ICR::operator<<	(	std::ostream &	stream,
		PointContactModel const &	pc_model
	)

Definition at line 75 of file contact_model.cpp.

std::ostream& ICR::operator<<	(	std::ostream &	stream,
		SphericalWrenchSpace const &	s_wrench_space
	)

Definition at line 83 of file wrench_space.cpp.

std::ostream& ICR::operator<<	(	std::ostream &	stream,
		LimitSurface const &	lim_surf
	)

Definition at line 140 of file limit_surface.cpp.

std::ostream& ICR::operator<<	(	std::ostream &	stream,
		Patch const &	patch
	)

Definition at line 143 of file finger.cpp.

std::ostream& ICR::operator<<	(	std::ostream &	stream,
		DiscreteWrenchSpace const &	d_wrench_space
	)

Definition at line 165 of file wrench_space.cpp.

std::ostream& ICR::operator<<	(	std::ostream &	stream,
		FingerParameters const &	param
	)

Definition at line 242 of file finger.cpp.

std::ostream& ICR::operator<<	(	std::ostream &	stream,
		Finger const &	finger
	)

Definition at line 427 of file finger.cpp.

Eigen::Matrix3d ICR::skewSymmetricMatrix

(

Eigen::Vector3d

vector

)

Definition at line 8 of file utilities.cpp.

---

Variable Documentation

TargetObject * ICR::callback_obj_ptr = NULL

Definition at line 10 of file object_loader.cpp.

bool ICR::face_callback_run = false

Definition at line 11 of file object_loader.cpp.

Eigen::VectorXi ICR::map_normal2vertex

Definition at line 12 of file object_loader.cpp.

std::vector< double * > ICR::normals_buffer

Definition at line 9 of file object_loader.cpp.

std::vector< double * > ICR::points_buffer

Definition at line 8 of file object_loader.cpp.