Class for evaluation the algorithm. More...

#include <evaluation.hpp>

Public Member Functions
	Evaluation (const bool &verbose, const std::string &base_frame)
	constructor
void	init (const double &test_step, const double &block_size_x, const double &block_size_y, const double floor_to_base_height, const double &x_min, const double &x_max, const double &y_min, const double &y_max, const double &z_min, const double &z_max)
	initialization
bool	inWorkSpace (geometry_msgs::Pose pose, const bool x=true, const bool y=true, const bool z=true)
	checking if the pose is within the working space (close enough)
void	printStat ()
	printing the successfully reached positions
void	testReach (ros::NodeHandle &nh, ros::Publisher pub_obj_pose, ros::Publisher pub_obj_poses, ros::Publisher pub_obj_moveit, moveit_visual_tools::MoveItVisualToolsPtr visual_tools, Action action_left, Action action_right, std::vector< MetaBlock > blocks_surfaces, const bool pickVsReach, const bool test_poses_rnd=false)
	testing grasping or approximate grasping
Protected Member Functions
geometry_msgs::PoseArray	generatePosesGrid ()
	generating test poses in a regular maner
geometry_msgs::PoseArray	generatePosesRnd (const int poses_nbr)
	generating poses in a random maner
int	testReachWithGenSingleHand (Action action, std::vector< MetaBlock > blocks_surfaces, ros::Publisher pub_obj_pose, ros::Publisher pub_obj_poses, ros::Publisher *pub_obj_moveit, moveit_visual_tools::MoveItVisualToolsPtr visual_tools, const bool pickVsReach, const int attempts_nbr, const double planning_time, geometry_msgs::PoseArray &msg_poses_validated)
	testing a single hand
Protected Attributes
std::string	base_frame_
MetaBlock *	block_
double	block_size_x_
double	block_size_y_
double	floor_to_base_height_
geometry_msgs::Pose	pose_zero_
std::vector< geometry_msgs::Pose >	stat_poses_success_
MetaBlock *	table_
double	test_step_
bool	verbose_
float	x_max_
float	x_min_
float	y_max_
float	y_min_
float	z_max_
float	z_min_

Detailed Description

Class for evaluation the algorithm.

Definition at line 29 of file evaluation.hpp.

Constructor & Destructor Documentation

moveit_simple_actions::Evaluation::Evaluation	(	const bool &	verbose,
		const std::string &	base_frame
	)

constructor

Definition at line 23 of file evaluation.cpp.

Member Function Documentation

geometry_msgs::PoseArray moveit_simple_actions::Evaluation::generatePosesGrid ( ) [protected]

generating test poses in a regular maner

Definition at line 79 of file evaluation.cpp.

geometry_msgs::PoseArray moveit_simple_actions::Evaluation::generatePosesRnd ( const int poses_nbr ) [protected]

generating poses in a random maner

Definition at line 137 of file evaluation.cpp.

void moveit_simple_actions::Evaluation::init	(	const double &	test_step,
		const double &	block_size_x,
		const double &	block_size_y,
		const double	floor_to_base_height,
		const double &	x_min,
		const double &	x_max,
		const double &	y_min,
		const double &	y_max,
		const double &	z_min,
		const double &	z_max
	)

initialization

Definition at line 36 of file evaluation.cpp.

bool moveit_simple_actions::Evaluation::inWorkSpace	(	geometry_msgs::Pose	pose,
		const bool	x = `true`,
		const bool	y = `true`,
		const bool	z = `true`
	)

checking if the pose is within the working space (close enough)

Definition at line 326 of file evaluation.cpp.

void moveit_simple_actions::Evaluation::printStat ( )

printing the successfully reached positions

Definition at line 316 of file evaluation.cpp.

void moveit_simple_actions::Evaluation::testReach	(	ros::NodeHandle &	nh,
		ros::Publisher *	pub_obj_pose,
		ros::Publisher *	pub_obj_poses,
		ros::Publisher *	pub_obj_moveit,
		moveit_visual_tools::MoveItVisualToolsPtr	visual_tools,
		Action *	action_left,
		Action *	action_right,
		std::vector< MetaBlock > *	blocks_surfaces,
		const bool	pickVsReach,
		const bool	test_poses_rnd = `false`
	)

testing grasping or approximate grasping

Definition at line 156 of file evaluation.cpp.

int moveit_simple_actions::Evaluation::testReachWithGenSingleHand	(	Action *	action,
		std::vector< MetaBlock > *	blocks_surfaces,
		ros::Publisher *	pub_obj_pose,
		ros::Publisher *	pub_obj_poses,
		ros::Publisher *	pub_obj_moveit,
		moveit_visual_tools::MoveItVisualToolsPtr	visual_tools,
		const bool	pickVsReach,
		const int	attempts_nbr,
		const double	planning_time,
		geometry_msgs::PoseArray &	msg_poses_validated
	)		`[protected]`