GraspStudio::ApproachMovementGenerator Class Reference

Inheritance diagram for GraspStudio::ApproachMovementGenerator:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ApproachMovementGenerator (VirtualRobot::SceneObjectPtr object, VirtualRobot::EndEffectorPtr eef, const std::string &graspPreshape="")
virtual	~ApproachMovementGenerator ()
	destructor More...
virtual Eigen::Matrix4f	createNewApproachPose ()=0
	Creates a new pose for approaching. More...
virtual bool	setEEFToRandomApproachPose ()
	Applies a random grasp hypothesis to the cloned EEF. More...
VirtualRobot::RobotPtr	getEEFRobotClone ()
	This robot is moved around. More...
bool	setEEFPose (const Eigen::Matrix4f &pose)
	move EEF to pose (uses coord system of GCP) More...
bool	updateEEFPose (const Eigen::Matrix4f &deltaPose)
	update pose of EEF (GCP) More...
bool	updateEEFPose (const Eigen::Vector3f &deltaPosition)
Eigen::Matrix4f	getEEFPose ()
	get pose of EEF (coord system of GCP) More...
std::string	getGCPJoint ()
VirtualRobot::SceneObjectPtr	getObject ()
VirtualRobot::EndEffectorPtr	getEEF ()
VirtualRobot::EndEffectorPtr	getEEFOriginal ()
Eigen::Vector3f	getApproachDirGlobal ()
std::string	getName ()
virtual void	openHand ()
void	setVerbose (bool v)

Protected Attributes
VirtualRobot::SceneObjectPtr	object
VirtualRobot::TriMeshModelPtr	objectModel
VirtualRobot::EndEffectorPtr	eef
Eigen::Vector3f	approachDirGlobal
VirtualRobot::RobotPtr	eefRobot
	This robot is moved around. More...
VirtualRobot::EndEffectorPtr	eef_cloned
std::string	name
std::string	graspPreshape
bool	verbose = false

Detailed Description

An interface for generating approach movements of an end-effector toward an object resulting in grasp hypothesis.

Constructor & Destructor Documentation

ApproachMovementGenerator()

GraspStudio::ApproachMovementGenerator::ApproachMovementGenerator	(	VirtualRobot::SceneObjectPtr	object,
		VirtualRobot::EndEffectorPtr	eef,
		const std::string &	graspPreshape = ""
	)

To generate approach movements an object and an end effector has to be specified. Internally a clone of the EEF is used.

Parameters

object	The object.
eef	The eef.
graspPreshape	An optional preshape that can be used in order to "open" the eef.

~ApproachMovementGenerator()

GraspStudio::ApproachMovementGenerator::~ApproachMovementGenerator ( )

virtualdefault

destructor

Member Function Documentation

createNewApproachPose()

virtual Eigen::Matrix4f GraspStudio::ApproachMovementGenerator::createNewApproachPose ( )

pure virtual

Creates a new pose for approaching.

Implemented in GraspStudio::ApproachMovementSurfaceNormal.

getApproachDirGlobal()

Eigen::Vector3f GraspStudio::ApproachMovementGenerator::getApproachDirGlobal

(

)

getEEF()

VirtualRobot::EndEffectorPtr GraspStudio::ApproachMovementGenerator::getEEF

(

)

This is the cloned eef!

getEEFOriginal()

VirtualRobot::EndEffectorPtr GraspStudio::ApproachMovementGenerator::getEEFOriginal

(

)

getEEFPose()

Eigen::Matrix4f GraspStudio::ApproachMovementGenerator::getEEFPose

(

)

get pose of EEF (coord system of GCP)

getEEFRobotClone()

VirtualRobot::RobotPtr GraspStudio::ApproachMovementGenerator::getEEFRobotClone

(

)

This robot is moved around.

getGCPJoint()

std::string GraspStudio::ApproachMovementGenerator::getGCPJoint

(

)

getName()

std::string GraspStudio::ApproachMovementGenerator::getName

(

)

getObject()

VirtualRobot::SceneObjectPtr GraspStudio::ApproachMovementGenerator::getObject

(

)

openHand()

void GraspStudio::ApproachMovementGenerator::openHand ( )

virtual

setEEFPose()

bool GraspStudio::ApproachMovementGenerator::setEEFPose

(

const Eigen::Matrix4f &

pose

)

move EEF to pose (uses coord system of GCP)

setEEFToRandomApproachPose()

bool GraspStudio::ApproachMovementGenerator::setEEFToRandomApproachPose ( )

virtual

Applies a random grasp hypothesis to the cloned EEF.

setVerbose()

void GraspStudio::ApproachMovementGenerator::setVerbose

(

bool

v

)

updateEEFPose() [1/2]

bool GraspStudio::ApproachMovementGenerator::updateEEFPose

(

const Eigen::Matrix4f &

deltaPose

)

update pose of EEF (GCP)

updateEEFPose() [2/2]

bool GraspStudio::ApproachMovementGenerator::updateEEFPose

(

const Eigen::Vector3f &

deltaPosition

)

Field Documentation

approachDirGlobal

Eigen::Vector3f GraspStudio::ApproachMovementGenerator::approachDirGlobal

protected

eef

VirtualRobot::EndEffectorPtr GraspStudio::ApproachMovementGenerator::eef

protected

eef_cloned

VirtualRobot::EndEffectorPtr GraspStudio::ApproachMovementGenerator::eef_cloned

protected

eefRobot

VirtualRobot::RobotPtr GraspStudio::ApproachMovementGenerator::eefRobot

protected

This robot is moved around.

graspPreshape

std::string GraspStudio::ApproachMovementGenerator::graspPreshape

protected

name

std::string GraspStudio::ApproachMovementGenerator::name

protected

object

VirtualRobot::SceneObjectPtr GraspStudio::ApproachMovementGenerator::object

protected

objectModel

VirtualRobot::TriMeshModelPtr GraspStudio::ApproachMovementGenerator::objectModel

protected

verbose

bool GraspStudio::ApproachMovementGenerator::verbose = false

protected