Classes | Defines | Functions | Variables
SimpleGraspPlanner.c File Reference
#include "SimpleGraspPlanner.h"
#include <math.h>
#include <stdio.h>
Include dependency graph for SimpleGraspPlanner.c:

Go to the source code of this file.

Classes

struct  Dataset

Defines

#define max(A, B)   (((A) > (B)) ? (A) : (B))
#define MAX_HAND_POINTS   100
#define min(A, B)   (((A) < (B)) ? (A) : (B))

Functions

double det (CovariancePoint cov)
double f (Point3D point_test, Point3D mean, CovariancePoint cov)
HandConfList GetGraspList (Point3D *obstacle_list, CovariancePoint *obstacle_covs, int num, double offset_rot_z_side, double offset_rot_z_top)
HandConfig GetGraspLM (Point3D *obstacle_list, CovariancePoint *obstacle_covs, int num, double offset_rot_z_side, double offset_rot_z_top)
double getTableHeight ()
int InitSGP (Point3D *hand_points, int num, double table_z)
void setTableHeight (double table_z)
Point3D TransformPoint (Point3D hand, Point3D target, double alpha, double beta, double delta)

Variables

Dataset g_data

Define Documentation

#define max (   A,
 
)    (((A) > (B)) ? (A) : (B))

Definition at line 47 of file SimpleGraspPlanner.c.

#define MAX_HAND_POINTS   100

Definition at line 201 of file SimpleGraspPlanner.c.

#define min (   A,
 
)    (((A) < (B)) ? (A) : (B))

Definition at line 46 of file SimpleGraspPlanner.c.


Function Documentation

double det ( CovariancePoint  cov)

Determinant a b c double sx; double sxy; double sxz; d e f double syx; double sy; double szy; g h i double szx; double syz; double sz;

Definition at line 99 of file SimpleGraspPlanner.c.

double f ( Point3D  point_test,
Point3D  mean,
CovariancePoint  cov 
)

Approximation of the probability density Implementation of this formula:

/%4 (cov_sy cov_sz - cov_syz cov_szy) %3 (-cov_szx cov_syz + cov_syx cov_sz) |------------------------------------ - -------------------------------------- \ %2 %2

%1 (cov_szx cov_sy - cov_syx cov_szy)\ / %4 (cov_sxy cov_sz - cov_sxz cov_szy)

  • -------------------------------------| %4 + |- ------------------------------------- %2 1.504695 / \ %2

%3 (-cov_szx cov_sxz + cov_sx cov_sz) %1 (cov_szx cov_sxy - cov_sx cov_szy)\ / + ------------------------------------- + -------------------------------------| %3 + | %2 %2 / \

%4 (cov_sxy cov_syz - cov_sxz cov_sy) %3 (-cov_syx cov_sxz + cov_sx cov_syz) ------------------------------------- - -------------------------------------- %2 %2

%1 (-cov_syx cov_sxy + cov_sx cov_sy)\ + -------------------------------------| %1 %2 /

1% = dz := point_test_z - mean_z

2% = cov_bla := cov_szx cov_sxy cov_syz - cov_szx cov_sxz cov_sy - cov_syx cov_sxy cov_sz

+ cov_syx cov_sxz cov_szy + cov_sx cov_sy cov_sz - cov_sx cov_syz cov_szy

3% = dy := point_test_y - mean_y

4% = dx := point_test_x - mean_x

Definition at line 143 of file SimpleGraspPlanner.c.

HandConfList GetGraspList ( Point3D obstacle_list,
CovariancePoint obstacle_covs,
int  num,
double  offset_rot_z_side,
double  offset_rot_z_top 
)

Initialize hand_center

Initialize lists

Initialize search space + sampling

Consider Table collision

Initialize start score: careful for strange covariances, this value might be to low

generate configuration dependant hand points

Definition at line 340 of file SimpleGraspPlanner.c.

HandConfig GetGraspLM ( Point3D obstacle_list,
CovariancePoint obstacle_covs,
int  num,
double  offset_rot_z_side,
double  offset_rot_z_top 
)

Initialize hand_center

Initialize lists

Initialize search space + sampling

Consider Table collision

Initialize start score: careful for strange covariances, this value might be to low

generate configuration dependant hand points

Definition at line 202 of file SimpleGraspPlanner.c.

double getTableHeight ( )

Definition at line 83 of file SimpleGraspPlanner.c.

int InitSGP ( Point3D hand_points,
int  num,
double  table_z 
)

Initialize the hand configuration

Get biggest hand z (first collision coming from top with a table)

Get smallest hand y (first collision point with a table coming from the side)

Definition at line 52 of file SimpleGraspPlanner.c.

void setTableHeight ( double  table_z)

Definition at line 77 of file SimpleGraspPlanner.c.

Point3D TransformPoint ( Point3D  hand,
Point3D  target,
double  alpha,
double  beta,
double  delta 
)

new poitions: Point P in object coordinates depending on the parameters alpha, beta and delta

Definition at line 187 of file SimpleGraspPlanner.c.


Variable Documentation

Definition at line 45 of file SimpleGraspPlanner.c.

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simple_grasp_planner
Author(s): U. Klank
autogenerated on Thu May 23 2013 09:20:22