GraspStudio::GenericGraspPlanner Class Reference

Inheritance diagram for GraspStudio::GenericGraspPlanner:

Public Member Functions
	GenericGraspPlanner (VirtualRobot::GraspSetPtr graspSet, GraspStudio::GraspQualityMeasurePtr graspQuality, GraspStudio::ApproachMovementGeneratorPtr approach, float minQuality=0.0f, bool forceClosure=true)
virtual	~GenericGraspPlanner () override
int	plan (int nrGrasps, int timeOutDuration=0, VirtualRobot::SceneObjectSetPtr obstacles={}) override
VirtualRobot::GraspPtr	planGrasp (VirtualRobot::SceneObjectSetPtr obstacles={})
VirtualRobot::EndEffector::ContactInfoVector	getContacts () const
void	setParameters (float minQuality, bool forceClosure)
void	setRetreatOnLowContacts (bool enable)
Public Member Functions inherited from GraspStudio::GraspPlanner
	GraspPlanner (VirtualRobot::GraspSetPtr graspSet)
virtual	~GraspPlanner ()
	destructor More...
void	setVerbose (bool enable)
std::vector< VirtualRobot::GraspPtr >	getPlannedGrasps ()
GraspPlannerEvaluation	getEvaluation () const
	getEvaluation More...
void	clearEvaluation ()
	Clear the evaluation. More...

Protected Member Functions
bool	moveEEFAway (const Eigen::Vector3f &approachDir, float step, int maxLoops)
bool	timeout ()

Protected Attributes
VirtualRobot::SceneObjectPtr	object
VirtualRobot::EndEffectorPtr	eef
std::chrono::system_clock::time_point	startTime
std::chrono::milliseconds	timeOutDuration
VirtualRobot::EndEffector::ContactInfoVector	contacts
GraspStudio::GraspQualityMeasurePtr	graspQuality
GraspStudio::ApproachMovementGeneratorPtr	approach
float	minQuality
bool	forceClosure
bool	retreatOnLowContacts
Protected Attributes inherited from GraspStudio::GraspPlanner
bool	verbose
VirtualRobot::GraspSetPtr	graspSet
std::vector< VirtualRobot::GraspPtr >	plannedGrasps
GraspPlannerEvaluation	eval

Detailed Description

A general grasp planning class that utilizes ApprachMovementGenerator for generating grasp hypothesis and GraspQualityMeasure to score them.

Constructor & Destructor Documentation

GenericGraspPlanner()

GraspStudio::GenericGraspPlanner::GenericGraspPlanner	(	VirtualRobot::GraspSetPtr	graspSet,
		GraspStudio::GraspQualityMeasurePtr	graspQuality,
		GraspStudio::ApproachMovementGeneratorPtr	approach,
		float	minQuality = 0.0f,
		bool	forceClosure = true
	)

Constructor

Parameters

graspSet	All planned grasps are added to this GraspSet.
graspQuality	The quality of generated grasps is evaluated with this object
approach	Approach movements are generated by this object.
minQuality	The quality that must be achieved at minimum by the GraspQualityMesurement module
forceClosure	When true, only force closure grasps are generated.

~GenericGraspPlanner()

GraspStudio::GenericGraspPlanner::~GenericGraspPlanner ( )

overridevirtualdefault

Member Function Documentation

getContacts()

VirtualRobot::EndEffector::ContactInfoVector GraspStudio::GenericGraspPlanner::getContacts

(

)

const

moveEEFAway()

bool GraspStudio::GenericGraspPlanner::moveEEFAway ( const Eigen::Vector3f &  approachDir, float  step, int  maxLoops  )

protected

plan()

int GraspStudio::GenericGraspPlanner::plan ( int  nrGrasps, int  timeOutDuration = 0, VirtualRobot::SceneObjectSetPtr  obstacles = {}  )

overridevirtual

Creates new grasps.

Parameters

nrGrasps	The number of grasps to be planned.
timeOutMS	The time out in milliseconds. Planning is stopped when this time is exceeded. Disabled when zero.

Returns

Number of generated grasps.

Implements GraspStudio::GraspPlanner.

planGrasp()

VirtualRobot::GraspPtr GraspStudio::GenericGraspPlanner::planGrasp

(

VirtualRobot::SceneObjectSetPtr

obstacles = {}

)

setParameters()

void GraspStudio::GenericGraspPlanner::setParameters	(	float	minQuality,
		bool	forceClosure
	)

setRetreatOnLowContacts()

void GraspStudio::GenericGraspPlanner::setRetreatOnLowContacts

(

bool

enable

)

if enabled (default), the planner retreates the hand if the number of contacts is <2. During retreat, the contacts are checked if a better situation can be achieved. This procedure helps in case the object is small.

timeout()

bool GraspStudio::GenericGraspPlanner::timeout ( )

protected

Field Documentation

approach

GraspStudio::ApproachMovementGeneratorPtr GraspStudio::GenericGraspPlanner::approach

protected

contacts

VirtualRobot::EndEffector::ContactInfoVector GraspStudio::GenericGraspPlanner::contacts

protected

eef

VirtualRobot::EndEffectorPtr GraspStudio::GenericGraspPlanner::eef

protected

forceClosure

bool GraspStudio::GenericGraspPlanner::forceClosure

protected

graspQuality

GraspStudio::GraspQualityMeasurePtr GraspStudio::GenericGraspPlanner::graspQuality

protected

minQuality

float GraspStudio::GenericGraspPlanner::minQuality

protected

object

VirtualRobot::SceneObjectPtr GraspStudio::GenericGraspPlanner::object

protected

retreatOnLowContacts

bool GraspStudio::GenericGraspPlanner::retreatOnLowContacts

protected

startTime

std::chrono::system_clock::time_point GraspStudio::GenericGraspPlanner::startTime

protected

timeOutDuration

std::chrono::milliseconds GraspStudio::GenericGraspPlanner::timeOutDuration

protected