#include <distribution_evaluator.h>
Public Member Functions | |
| double | evaluate (const GraspWithMetadata &gstar, const GraspWithMetadata &grasp) |
| NormalDistributionEvaluator (double position_sigma, double orientation_concentration) | |
Private Member Functions | |
| double | evaluate_orientation (const GraspWithMetadata &gstar, const GraspWithMetadata &grasp) |
| double | evaluate_position (const GraspWithMetadata &gstar, const GraspWithMetadata &grasp) |
Private Attributes | |
| double | orientation_concentration_ |
| double | position_sigma_ |
Detailed Description
Given a "mean" grasp g* and a grasp point to evaluate, evaluates the point's value in a 6D distribution consisting of a 3D Gaussian distribution over position and a Dimroth-Watson distribution over orientation.
Definition at line 90 of file distribution_evaluator.h.
Constructor & Destructor Documentation
| probabilistic_grasp_planner::NormalDistributionEvaluator::NormalDistributionEvaluator | ( | double | position_sigma, |
| double | orientation_concentration | ||
| ) | [inline] |
Definition at line 100 of file distribution_evaluator.h.
Member Function Documentation
| double probabilistic_grasp_planner::NormalDistributionEvaluator::evaluate | ( | const GraspWithMetadata & | gstar, |
| const GraspWithMetadata & | grasp | ||
| ) | [virtual] |
Implements probabilistic_grasp_planner::DistributionEvaluator.
Definition at line 81 of file distribution_evaluator.cpp.
| double probabilistic_grasp_planner::NormalDistributionEvaluator::evaluate_orientation | ( | const GraspWithMetadata & | gstar, |
| const GraspWithMetadata & | grasp | ||
| ) | [private] |
Evaluates the orientation using a Dimroth-Watson distribution to correctly cover quaternions
Definition at line 73 of file distribution_evaluator.cpp.
| double probabilistic_grasp_planner::NormalDistributionEvaluator::evaluate_position | ( | const GraspWithMetadata & | gstar, |
| const GraspWithMetadata & | grasp | ||
| ) | [private] |
Evaluates a 3D multivariate gaussian distribution with mean at g* and no covariance between dimensions
Definition at line 56 of file distribution_evaluator.cpp.
Member Data Documentation
double probabilistic_grasp_planner::NormalDistributionEvaluator::orientation_concentration_ [private] |
Definition at line 94 of file distribution_evaluator.h.
Definition at line 94 of file distribution_evaluator.h.
The documentation for this class was generated from the following files: