Simox  2.3.50
VirtualRobot::BasicGraspQualityMeasure Class Reference

An interface class for grasp quality algorithms. A basic quality score, relying on the number of contacts, is served by this implementation. More...

Inheritance diagram for VirtualRobot::BasicGraspQualityMeasure:
GraspStudio::GraspQualityMeasure GraspStudio::GraspQualityMeasureWrenchSpace

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW BasicGraspQualityMeasure (VirtualRobot::SceneObjectPtr object)
 
virtual ~BasicGraspQualityMeasure ()
 
virtual void setContactPoints (const VirtualRobot::EndEffector::ContactInfoVector &contactPoints)
 
virtual void setContactPoints (const std::vector< VirtualRobot::MathTools::ContactPoint > &contactPoints6d)
 
virtual float getGraspQuality ()
 
virtual bool calculateGraspQuality ()
 Compute the grasp quality for the given contact points. More...
 
virtual Eigen::Vector3f getCoM ()
 
virtual VirtualRobot::MathTools::ContactPoint getContactPointsCenter ()
 
virtual void setVerbose (bool enable)
 
virtual std::string getName ()
 Returns description of this object. More...
 
VirtualRobot::SceneObjectPtr getObject ()
 
virtual bool isValid ()
 

Protected Attributes

Eigen::Vector3f centerOfModel
 
float objectLength
 
float graspQuality
 
int maxContacts
 
VirtualRobot::SceneObjectPtr object
 
std::vector< VirtualRobot::MathTools::ContactPointcontactPoints
 
std::vector< VirtualRobot::MathTools::ContactPointcontactPointsM
 
bool verbose
 

Detailed Description

An interface class for grasp quality algorithms. A basic quality score, relying on the number of contacts, is served by this implementation.

See also
GraspStudio::GraspQualityMeasureWrenchSpace

Constructor & Destructor Documentation

VirtualRobot::BasicGraspQualityMeasure::BasicGraspQualityMeasure ( VirtualRobot::SceneObjectPtr  object)
VirtualRobot::BasicGraspQualityMeasure::~BasicGraspQualityMeasure ( )
virtual

Member Function Documentation

bool VirtualRobot::BasicGraspQualityMeasure::calculateGraspQuality ( )
virtual

Compute the grasp quality for the given contact points.

Reimplemented in GraspStudio::GraspQualityMeasureWrenchSpace.

Eigen::Vector3f VirtualRobot::BasicGraspQualityMeasure::getCoM ( )
virtual
MathTools::ContactPoint VirtualRobot::BasicGraspQualityMeasure::getContactPointsCenter ( )
virtual
float VirtualRobot::BasicGraspQualityMeasure::getGraspQuality ( )
virtual

Returns calculated grasp quality

Reimplemented in GraspStudio::GraspQualityMeasureWrenchSpace.

std::string VirtualRobot::BasicGraspQualityMeasure::getName ( )
virtual

Returns description of this object.

Reimplemented in GraspStudio::GraspQualityMeasureWrenchSpace, and GraspStudio::GraspQualityMeasure.

VirtualRobot::SceneObjectPtr VirtualRobot::BasicGraspQualityMeasure::getObject ( )
bool VirtualRobot::BasicGraspQualityMeasure::isValid ( )
virtual
void VirtualRobot::BasicGraspQualityMeasure::setContactPoints ( const VirtualRobot::EndEffector::ContactInfoVector contactPoints)
virtual

setup contact information the contact points are normalized by subtracting the COM the contact normals are normalize to unit length

Reimplemented in GraspStudio::GraspQualityMeasureWrenchSpace.

void VirtualRobot::BasicGraspQualityMeasure::setContactPoints ( const std::vector< VirtualRobot::MathTools::ContactPoint > &  contactPoints6d)
virtual
void VirtualRobot::BasicGraspQualityMeasure::setVerbose ( bool  enable)
virtual

Field Documentation

Eigen::Vector3f VirtualRobot::BasicGraspQualityMeasure::centerOfModel
protected
std::vector<VirtualRobot::MathTools::ContactPoint> VirtualRobot::BasicGraspQualityMeasure::contactPoints
protected
std::vector<VirtualRobot::MathTools::ContactPoint> VirtualRobot::BasicGraspQualityMeasure::contactPointsM
protected
float VirtualRobot::BasicGraspQualityMeasure::graspQuality
protected
int VirtualRobot::BasicGraspQualityMeasure::maxContacts
protected
VirtualRobot::SceneObjectPtr VirtualRobot::BasicGraspQualityMeasure::object
protected
float VirtualRobot::BasicGraspQualityMeasure::objectLength
protected
bool VirtualRobot::BasicGraspQualityMeasure::verbose
protected