Inheritance diagram for GraspStudio::GraspEvaluationPoseUncertainty:

Data Structures
struct	PoseEvalResult

struct	PoseEvalResults

struct	PoseUncertaintyConfig

Public Member Functions
	GraspEvaluationPoseUncertainty (const PoseUncertaintyConfig &config)
	Construct with the given configuration. More...

virtual	~GraspEvaluationPoseUncertainty ()
	Destructor. More...

PoseUncertaintyConfig &	config ()

const PoseUncertaintyConfig &	config () const

std::vector< Eigen::Matrix4f >	generatePoses (const Eigen::Matrix4f &objectGP, const Eigen::Matrix4f &graspCenterGP)

std::vector< Eigen::Matrix4f >	generatePoses (const Eigen::Matrix4f &objectGP, const VirtualRobot::EndEffector::ContactInfoVector &contacts)
	Uses the mean of the contact points as grasp center point. More...

std::vector< Eigen::Matrix4f >	generatePoses (const Eigen::Matrix4f &objectGP, const Eigen::Matrix4f &graspCenterGP, int numPoses)

std::vector< Eigen::Matrix4f >	generatePoses (const Eigen::Matrix4f &objectGP, const VirtualRobot::EndEffector::ContactInfoVector &contacts, int numPoses)
	Uses the mean of the contact points as grasp center point. More...

PoseEvalResult	evaluatePose (VirtualRobot::EndEffectorPtr eef, VirtualRobot::GraspableSensorizedObjectPtr object, const Eigen::Matrix4f &objectPose, GraspQualityMeasurePtr qm, VirtualRobot::RobotConfigPtr preshape={}, float closingStepSize=0.02f, float stepSizeSpeedFactor=1)

PoseEvalResults	evaluatePoses (VirtualRobot::EndEffectorPtr eef, VirtualRobot::GraspableSensorizedObjectPtr object, const std::vector< Eigen::Matrix4f > &objectPoses, GraspQualityMeasurePtr qm, VirtualRobot::RobotConfigPtr preshape={}, float closingStepSize=0.02f, float stepSizeSpeedFactor=1)

PoseEvalResults	evaluateGrasp (VirtualRobot::GraspPtr grasp, VirtualRobot::EndEffectorPtr eef, VirtualRobot::GraspableSensorizedObjectPtr object, GraspQualityMeasurePtr qm, int numPoses, float closingStepSize=0.02f, float stepSizeSpeedFactor=1)

Protected Member Functions
Eigen::Vector3f	getMean (const VirtualRobot::EndEffector::ContactInfoVector &contacts) const

Protected Attributes
PoseUncertaintyConfig	_config

Detailed Description

This class implements the paper: Jonathan Weisz and Peter K. Allen, "Pose Error Robust Grasping from Contact Wrench Space Metrics", 2012 IEEE International Conference on Robotics and Automation.

Constructor & Destructor Documentation

◆ GraspEvaluationPoseUncertainty()

GraspStudio::GraspEvaluationPoseUncertainty::GraspEvaluationPoseUncertainty ( const PoseUncertaintyConfig & config )

Construct with the given configuration.

◆ ~GraspEvaluationPoseUncertainty()

GraspStudio::GraspEvaluationPoseUncertainty::~GraspEvaluationPoseUncertainty ( )

virtualdefault

Destructor.

Member Function Documentation

◆ config() [1/2]

GraspEvaluationPoseUncertainty::PoseUncertaintyConfig & GraspStudio::GraspEvaluationPoseUncertainty::config ( )

◆ config() [2/2]

const GraspEvaluationPoseUncertainty::PoseUncertaintyConfig & GraspStudio::GraspEvaluationPoseUncertainty::config ( ) const

◆ evaluateGrasp()

GraspEvaluationPoseUncertainty::PoseEvalResults GraspStudio::GraspEvaluationPoseUncertainty::evaluateGrasp	(	VirtualRobot::GraspPtr	grasp,
		VirtualRobot::EndEffectorPtr	eef,
		VirtualRobot::GraspableSensorizedObjectPtr	object,
		GraspQualityMeasurePtr	qm,
		int	numPoses,
		float	closingStepSize = `0.02f`,
		float	stepSizeSpeedFactor = `1`
	)

◆ evaluatePose()

GraspEvaluationPoseUncertainty::PoseEvalResult GraspStudio::GraspEvaluationPoseUncertainty::evaluatePose	(	VirtualRobot::EndEffectorPtr	eef,
		VirtualRobot::GraspableSensorizedObjectPtr	object,
		const Eigen::Matrix4f &	objectPose,
		GraspQualityMeasurePtr	qm,
		VirtualRobot::RobotConfigPtr	preshape = `{}`,
		float	closingStepSize = `0.02f`,
		float	stepSizeSpeedFactor = `1`
	)

◆ evaluatePoses()

GraspEvaluationPoseUncertainty::PoseEvalResults GraspStudio::GraspEvaluationPoseUncertainty::evaluatePoses	(	VirtualRobot::EndEffectorPtr	eef,
		VirtualRobot::GraspableSensorizedObjectPtr	object,
		const std::vector< Eigen::Matrix4f > &	objectPoses,
		GraspQualityMeasurePtr	qm,
		VirtualRobot::RobotConfigPtr	preshape = `{}`,
		float	closingStepSize = `0.02f`,
		float	stepSizeSpeedFactor = `1`
	)

◆ generatePoses() [1/4]

std::vector< Eigen::Matrix4f > GraspStudio::GraspEvaluationPoseUncertainty::generatePoses	(	const Eigen::Matrix4f &	objectGP,
		const Eigen::Matrix4f &	graspCenterGP
	)

Computes the full set of poses according to configuration.

Parameters

objectGP	The pose of the object.
graspCenterGP	This could be the pose of the object or the center of the contact points (as proposed in the paper)

◆ generatePoses() [2/4]

std::vector< Eigen::Matrix4f > GraspStudio::GraspEvaluationPoseUncertainty::generatePoses	(	const Eigen::Matrix4f &	objectGP,
		const VirtualRobot::EndEffector::ContactInfoVector &	contacts
	)

Uses the mean of the contact points as grasp center point.

◆ generatePoses() [3/4]

std::vector< Eigen::Matrix4f > GraspStudio::GraspEvaluationPoseUncertainty::generatePoses	(	const Eigen::Matrix4f &	objectGP,
		const Eigen::Matrix4f &	graspCenterGP,
		int	numPoses
	)

Computes a set of poses by randomly sampling within the extends of the configuration.

Parameters

objectGP	The pose of the object.
graspCenterGP	This could be the pose of the object or the center of the contact points (as proposed in the paper)
numPoses	Number of poses to generate

◆ generatePoses() [4/4]

std::vector< Eigen::Matrix4f > GraspStudio::GraspEvaluationPoseUncertainty::generatePoses	(	const Eigen::Matrix4f &	objectGP,
		const VirtualRobot::EndEffector::ContactInfoVector &	contacts,
		int	numPoses
	)

Uses the mean of the contact points as grasp center point.

◆ getMean()

Eigen::Vector3f GraspStudio::GraspEvaluationPoseUncertainty::getMean ( const VirtualRobot::EndEffector::ContactInfoVector & contacts ) const

protected

Field Documentation

◆ _config

PoseUncertaintyConfig GraspStudio::GraspEvaluationPoseUncertainty::_config