Inheritance diagram for GraspStudio::ApproachMovementSurfaceNormal:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ApproachMovementSurfaceNormal (VirtualRobot::SceneObjectPtr object, VirtualRobot::EndEffectorPtr eef, const std::string &graspPreshape="", float maxRetreatDist=0.0f, bool useFaceAreaDistribution=false)

virtual	~ApproachMovementSurfaceNormal () override
	Destructor. More...

Eigen::Matrix4f	createNewApproachPose () override
	Creates a new pose for approaching. More...

bool	getPositionOnObject (Eigen::Vector3f &storePos, Eigen::Vector3f &storeApproachDir)
	Returns a position with normal on the surface of the object. More...

virtual bool	setEEFToApproachPose (const Eigen::Vector3f &position, const Eigen::Vector3f &approachDir)
	Sets EEF to a position so that the Z component of the GCP coord system is aligned with -approachDir. More...

void	moveEEFAway (const Eigen::Vector3f &approachDir, float step, int maxLoops=1000)

Eigen::Matrix4f	getEEFPose ()

bool	setEEFPose (const Eigen::Matrix4f &pose)

Public Member Functions inherited from GraspStudio::ApproachMovementGenerator
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ApproachMovementGenerator (VirtualRobot::SceneObjectPtr object, VirtualRobot::EndEffectorPtr eef, const std::string &graspPreshape="")

virtual	~ApproachMovementGenerator ()
	destructor 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
std::default_random_engine	randomEngine { std::random_device{}() }
	The random engine. More...

std::uniform_int_distribution< std::size_t >	distribUniform
	Uniform distribiton over face indices. More...

bool	useFaceAreasDistrib = false
	Indicates whether distribFaceAreas shall be used. More...

std::discrete_distribution< std::size_t >	distribFaceAreas

std::uniform_real_distribution< float >	distribRetreatDistance
	Distribution to draw random retreat distances from. More...

Protected Attributes inherited from GraspStudio::ApproachMovementGenerator
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

This class generates grasping configs by sampling a random surface position of the object and setting the EEF to a surface normal aligned position. The remaining free DoF (the rotation around the normal) is set randomly. Then the EEF is moved along the normal until a collision is detected or the GCP hits the object. If needed, the EEF is moved back until a collision-free pose is found.

Internally the EEF is cloned.

Constructor & Destructor Documentation

◆ ApproachMovementSurfaceNormal()

GraspStudio::ApproachMovementSurfaceNormal::ApproachMovementSurfaceNormal	(	VirtualRobot::SceneObjectPtr	object,
		VirtualRobot::EndEffectorPtr	eef,
		const std::string &	graspPreshape = `""`,
		float	maxRetreatDist = `0.0f`,
		bool	useFaceAreaDistribution = `false`
	)

To generate approach movements an object and an end effector has to be specified.

Parameters

object	The object.
eef	The end effector.
graspPreshape	An optional preshape that can be used in order to "open" the eef.
maxRandDist	If >0, the resulting apporach pose is randomly moved in the approach direction (away from the object) in order to create different distances to the object.
usefaceAreaDistribution	If true, the probability of a face being selected is proportional to its area. If false, all faces are selected with equal probability.

◆ ~ApproachMovementSurfaceNormal()

GraspStudio::ApproachMovementSurfaceNormal::~ApproachMovementSurfaceNormal ( )

overridevirtualdefault

Destructor.

Member Function Documentation

◆ createNewApproachPose()

Eigen::Matrix4f GraspStudio::ApproachMovementSurfaceNormal::createNewApproachPose ( )

overridevirtual

Creates a new pose for approaching.

Implements GraspStudio::ApproachMovementGenerator.

◆ getEEFPose()

Eigen::Matrix4f GraspStudio::ApproachMovementSurfaceNormal::getEEFPose ( )

◆ getPositionOnObject()

bool GraspStudio::ApproachMovementSurfaceNormal::getPositionOnObject	(	Eigen::Vector3f &	storePos,
		Eigen::Vector3f &	storeApproachDir
	)

Returns a position with normal on the surface of the object.

◆ moveEEFAway()

void GraspStudio::ApproachMovementSurfaceNormal::moveEEFAway	(	const Eigen::Vector3f &	approachDir,
		float	step,
		int	maxLoops = `1000`
	)

◆ setEEFPose()

bool GraspStudio::ApproachMovementSurfaceNormal::setEEFPose ( const Eigen::Matrix4f & pose )

◆ setEEFToApproachPose()

bool GraspStudio::ApproachMovementSurfaceNormal::setEEFToApproachPose	(	const Eigen::Vector3f &	position,
		const Eigen::Vector3f &	approachDir
	)

virtual

Sets EEF to a position so that the Z component of the GCP coord system is aligned with -approachDir.

Field Documentation

◆ distribFaceAreas

std::discrete_distribution<std::size_t> GraspStudio::ApproachMovementSurfaceNormal::distribFaceAreas

protected

Distribution with probability of a face proportional to its area. Only initialized if useFaceAreasDistrib is true.

◆ distribRetreatDistance

std::uniform_real_distribution<float> GraspStudio::ApproachMovementSurfaceNormal::distribRetreatDistance

protected

Distribution to draw random retreat distances from.

◆ distribUniform

std::uniform_int_distribution<std::size_t> GraspStudio::ApproachMovementSurfaceNormal::distribUniform

protected

Uniform distribiton over face indices.

◆ randomEngine

std::default_random_engine GraspStudio::ApproachMovementSurfaceNormal::randomEngine { std::random_device{}() }

protected

The random engine.

◆ useFaceAreasDistrib

bool GraspStudio::ApproachMovementSurfaceNormal::useFaceAreasDistrib = false

protected

Indicates whether distribFaceAreas shall be used.

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ApproachMovementSurfaceNormal()

◆ ~ApproachMovementSurfaceNormal()

Member Function Documentation

◆ createNewApproachPose()

◆ getEEFPose()

◆ getPositionOnObject()

◆ moveEEFAway()

◆ setEEFPose()

◆ setEEFToApproachPose()

Field Documentation

◆ distribFaceAreas

◆ distribRetreatDistance

◆ distribUniform

◆ randomEngine

◆ useFaceAreasDistrib