GraspStudio::GraspPlanner Class Reference

An interface for grasp planners. More...

Inheritance diagram for GraspStudio::GraspPlanner:

Public Member Functions
	GraspPlanner (VirtualRobot::GraspSetPtr graspSet)
virtual	~GraspPlanner ()
	destructor More...
void	setVerbose (bool enable)
virtual int	plan (int nrGrasps, int timeOutMS=0, VirtualRobot::SceneObjectSetPtr obstacles={})=0
std::vector< VirtualRobot::GraspPtr >	getPlannedGrasps ()
GraspPlannerEvaluation	getEvaluation () const
	getEvaluation More...
void	clearEvaluation ()
	Clear the evaluation. More...

Protected Attributes
bool	verbose
VirtualRobot::GraspSetPtr	graspSet
std::vector< VirtualRobot::GraspPtr >	plannedGrasps
GraspPlannerEvaluation	eval

Detailed Description

An interface for grasp planners.

Constructor & Destructor Documentation

GraspPlanner()

GraspStudio::GraspPlanner::GraspPlanner

(

VirtualRobot::GraspSetPtr

graspSet

)

Constructor

Parameters

graspSet

Append planned grasps to this set.

~GraspPlanner()

GraspStudio::GraspPlanner::~GraspPlanner ( )

virtualdefault

destructor

Member Function Documentation

clearEvaluation()

void GraspStudio::GraspPlanner::clearEvaluation

(

)

Clear the evaluation.

getEvaluation()

GraspPlannerEvaluation GraspStudio::GraspPlanner::getEvaluation

(

)

const

getEvaluation

Returns

The current evaluation of the grasp planner.

getPlannedGrasps()

std::vector< VirtualRobot::GraspPtr > GraspStudio::GraspPlanner::getPlannedGrasps

(

)

Returns all grasps that have been generated. These grasps are also stored in the graspSet that was specified on construction.

plan()

virtual int GraspStudio::GraspPlanner::plan ( int  nrGrasps, int  timeOutMS = 0, VirtualRobot::SceneObjectSetPtr  obstacles = {}  )

pure virtual

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 planned grasps.

Implemented in GraspStudio::GenericGraspPlanner.

setVerbose()

void GraspStudio::GraspPlanner::setVerbose

(

bool

enable

)

Field Documentation

eval

GraspPlannerEvaluation GraspStudio::GraspPlanner::eval

protected

graspSet

VirtualRobot::GraspSetPtr GraspStudio::GraspPlanner::graspSet

protected

plannedGrasps

std::vector<VirtualRobot::GraspPtr> GraspStudio::GraspPlanner::plannedGrasps

protected

verbose

bool GraspStudio::GraspPlanner::verbose

protected