probabilistic_grasp_planner::LearnedProbabilityComputer Class Reference

#include <recognition_probability_computer.h>

Inheritance diagram for probabilistic_grasp_planner::LearnedProbabilityComputer:

List of all members.

Public Member Functions
virtual void	computeRepresentationProbabilities (std::vector< ObjectRepresentation > &objects)
	LearnedProbabilityComputer ()
Private Types
enum	Cases {   CLUSTER_ONLY, CLUSTER_DB, DB_ONLY, DB_MULTIPLE,   CLUSTER_DB_MULTIPLE }

---

Detailed Description

Computer which assigns static weights to:

• The first detected DB model
• The cluster planner
• All of the rest of the DB models

CASES: -If there is only the cluster, the cluster gets 1.0 -If there is the cluster and one DB model, the DB model gets 0.667 and the cluster gets 0.333 -If there is only a single DB model, the DB model gets 100% -If there are only DB models, the first gets 0.667 and the rest get 0.333 divided evenly -If there are multiple DB models and the cluster, the first DB model gets 0.5, the cluster gets 0.25, and the rest get 0.25 divided evenly

Definition at line 131 of file recognition_probability_computer.h.

---

Member Enumeration Documentation

enum probabilistic_grasp_planner::LearnedProbabilityComputer::Cases [private]

Enumerator:

CLUSTER_ONLY
CLUSTER_DB
DB_ONLY
DB_MULTIPLE
CLUSTER_DB_MULTIPLE

Definition at line 134 of file recognition_probability_computer.h.

---

Constructor & Destructor Documentation

probabilistic_grasp_planner::LearnedProbabilityComputer::LearnedProbabilityComputer

(

)

[inline]

Definition at line 136 of file recognition_probability_computer.h.

---

Member Function Documentation

void probabilistic_grasp_planner::LearnedProbabilityComputer::computeRepresentationProbabilities

(

std::vector< ObjectRepresentation > &

objects

)

[virtual]

Given a list of GraspableObjects (database models, point clouds, etc.) which describe the real object, computes the probability for each object that the hypothesis "this 'object' is the best description of the real object" is true.

Implements probabilistic_grasp_planner::RecognitionProbabilityComputer.

Definition at line 162 of file recognition_probability_computer.cpp.

---

The documentation for this class was generated from the following files:

• recognition_probability_computer.h
• recognition_probability_computer.cpp