Inheritance diagram for VirtualRobot::Grasp:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Grasp (const std::string &name, const std::string &robotType, const std::string &eef, const Eigen::Matrix4f &poseInTCPCoordSystem, const std::string &creation="", float quality=0.0f, const std::string &eefPreshape="")

virtual	~Grasp ()

virtual void	print (bool printDecoration=true) const

void	setName (const std::string &name)

void	setPreshape (const std::string &preshapeName)

Eigen::Matrix4f	getTargetPoseGlobal (RobotPtr robot) const

Eigen::Matrix4f	getTcpPoseGlobal (const Eigen::Matrix4f &objectPose) const

Eigen::Matrix4f	getTcpPoseRobotRoot (const Eigen::Matrix4f &objectPose, const RobotPtr &robot) const

Eigen::Matrix4f	getObjectTargetPoseGlobal (const Eigen::Matrix4f &graspingPose) const

void	setTransformation (const Eigen::Matrix4f &tcp2Object)

std::string	getName () const

std::string	getRobotType () const

std::string	getEefName () const

std::string	getCreationMethod () const

std::string	getPreshapeName () const

float	getQuality () const

void	setQuality (float q)

virtual Eigen::Matrix4f	getTransformation () const

std::string	toXML (int tabs=2) const

virtual GraspPtr	clone () const

std::map< std::string, float >	getConfiguration () const
	Returns the (optionally) stored configuration of the fingers / actors. More...

void	setConfiguration (const std::map< std::string, float > &config)
	Optionally the configuration of the fingers / actors can be stored. More...

Protected Member Functions
virtual std::string	getTransformationXML (const std::string &tabs) const

Protected Attributes
std::map< std::string, float >	eefConfiguration
	Optional: the configuration of the actors. More...

Eigen::Matrix4f	poseTcp
	The pose in TCP's coordinate system. More...

std::string	robotType

std::string	eef
	The eef specifies which TCP node should be used. More...

std::string	name

std::string	creation

float	quality

std::string	preshape
	Optionally an eef-preshape can be defined. More...

Detailed Description

A grasp is mainly specified by a TCP to object transformation.

Constructor & Destructor Documentation

◆ Grasp()

VirtualRobot::Grasp::Grasp	(	const std::string &	name,
		const std::string &	robotType,
		const std::string &	eef,
		const Eigen::Matrix4f &	poseInTCPCoordSystem,
		const std::string &	creation = `""`,
		float	quality = `0.0f`,
		const std::string &	eefPreshape = `""`
	)

Constructor

Parameters

name	The name of this grasp.
robotType	The robot type for which this grasp is defined.
eef	The end effector name.
poseInTCPCoordSystem	The pose of the object, given in eef's tcp coordinate system
creation	A custom string explaining how the grasp was created.
quality	A custom quality index.
eefPreshape	An optional preshape.

◆ ~Grasp()

VirtualRobot::Grasp::~Grasp ( )

virtualdefault

Member Function Documentation

◆ clone()

VirtualRobot::GraspPtr VirtualRobot::Grasp::clone ( ) const

virtual

Reimplemented in VirtualRobot::ChainedGrasp.

◆ getConfiguration()

std::map< std::string, float > VirtualRobot::Grasp::getConfiguration ( ) const

Returns the (optionally) stored configuration of the fingers / actors.

◆ getCreationMethod()

std::string VirtualRobot::Grasp::getCreationMethod ( ) const

◆ getEefName()

std::string VirtualRobot::Grasp::getEefName ( ) const

◆ getName()

std::string VirtualRobot::Grasp::getName ( ) const

◆ getObjectTargetPoseGlobal()

Eigen::Matrix4f VirtualRobot::Grasp::getObjectTargetPoseGlobal ( const Eigen::Matrix4f & graspingPose ) const

The returned pose is the object pose that have to be set in order to apply a grasp at pose graspingPose.

◆ getPreshapeName()

std::string VirtualRobot::Grasp::getPreshapeName ( ) const

◆ getQuality()

float VirtualRobot::Grasp::getQuality ( ) const

◆ getRobotType()

std::string VirtualRobot::Grasp::getRobotType ( ) const

◆ getTargetPoseGlobal()

Eigen::Matrix4f VirtualRobot::Grasp::getTargetPoseGlobal ( RobotPtr robot ) const

Get the (current) global pose of the target object when the grasp is applied on the corresponding EEF of robot. Note, that this pose is only valid for the current configuration of the robot. When the robot moves, the grasping pose will change, and you have to call this method again.

◆ getTcpPoseGlobal()

Eigen::Matrix4f VirtualRobot::Grasp::getTcpPoseGlobal ( const Eigen::Matrix4f & objectPose ) const

Get the global pose that has to be achieved by the tcp in order to apply the grasp on the object at position objectPose.

◆ getTcpPoseRobotRoot()

Eigen::Matrix4f VirtualRobot::Grasp::getTcpPoseRobotRoot	(	const Eigen::Matrix4f &	objectPose,
		const RobotPtr &	robot
	)		const

Get the pose (relative to the robot root) that has to be achieved by the tcp in order to apply the grasp on the object at position objectPose.

◆ getTransformation()

Eigen::Matrix4f VirtualRobot::Grasp::getTransformation ( ) const

virtual

Return the transformation of this grasp. The transformation is given in the coordinate system of the tcp (whereas the tcp belongs to the eef). This transformation specifies the tcp to object relation (object in tcp frame).

Reimplemented in VirtualRobot::ChainedGrasp.

◆ getTransformationXML()

std::string VirtualRobot::Grasp::getTransformationXML ( const std::string & tabs ) const

protectedvirtual

Reimplemented in VirtualRobot::ChainedGrasp.

◆ print()

void VirtualRobot::Grasp::print ( bool printDecoration = true ) const

virtual

Reimplemented in VirtualRobot::ChainedGrasp.

◆ setConfiguration()

void VirtualRobot::Grasp::setConfiguration ( const std::map< std::string, float > & config )

Optionally the configuration of the fingers / actors can be stored.

◆ setName()

void VirtualRobot::Grasp::setName ( const std::string & name )

◆ setPreshape()

void VirtualRobot::Grasp::setPreshape ( const std::string & preshapeName )

◆ setQuality()

void VirtualRobot::Grasp::setQuality ( float q )

◆ setTransformation()

void VirtualRobot::Grasp::setTransformation ( const Eigen::Matrix4f & tcp2Object )

Set the transformation of this grasp. The transformation is given in the coordinate system of the tcp (whereas the tcp belongs to the eef).

Parameters

tcp2Object The transformation specifies the tcp to object relation.

◆ toXML()

std::string VirtualRobot::Grasp::toXML ( int tabs = 2 ) const

Field Documentation

◆ creation

std::string VirtualRobot::Grasp::creation

protected

◆ eef

std::string VirtualRobot::Grasp::eef

protected

The eef specifies which TCP node should be used.

◆ eefConfiguration

std::map< std::string, float > VirtualRobot::Grasp::eefConfiguration

protected

Optional: the configuration of the actors.

◆ name

std::string VirtualRobot::Grasp::name

protected

◆ poseTcp

Eigen::Matrix4f VirtualRobot::Grasp::poseTcp

protected

The pose in TCP's coordinate system.

◆ preshape

std::string VirtualRobot::Grasp::preshape

protected

Optionally an eef-preshape can be defined.

◆ quality

float VirtualRobot::Grasp::quality

protected

◆ robotType

std::string VirtualRobot::Grasp::robotType

protected

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Grasp()

◆ ~Grasp()

Member Function Documentation

◆ clone()

◆ getConfiguration()

◆ getCreationMethod()

◆ getEefName()

◆ getName()

◆ getObjectTargetPoseGlobal()

◆ getPreshapeName()

◆ getQuality()

◆ getRobotType()

◆ getTargetPoseGlobal()

◆ getTcpPoseGlobal()

◆ getTcpPoseRobotRoot()

◆ getTransformation()

◆ getTransformationXML()

◆ print()

◆ setConfiguration()

◆ setName()

◆ setPreshape()

◆ setQuality()

◆ setTransformation()

◆ toXML()

Field Documentation

◆ creation

◆ eef

◆ eefConfiguration

◆ name

◆ poseTcp

◆ preshape

◆ quality

◆ robotType