GraspStudio::GraspQualityMeasure Class Reference

An interface class for grasp quality algorithms that offer a force closure test. More...

Inheritance diagram for GraspStudio::GraspQualityMeasure:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	GraspQualityMeasure (VirtualRobot::SceneObjectPtr object, float unitForce=1.0f, float frictionConeCoeff=0.35f, int frictionConeSamples=8)
	Constructor. More...
virtual	~GraspQualityMeasure () override
	Destructor. More...
virtual bool	isGraspForceClosure ()=0
	Indicate whether the grasp is in force closure. More...
virtual bool	calculateObjectProperties ()=0
	This method is used to compute a reference value that describes a perfect grasp. More...
virtual VirtualRobot::MathTools::ContactPoint	getSampledObjectPointsCenter ()
std::string	getName () override
	Returns description of this object. More...
bool	isValid () override
virtual ContactConeGeneratorPtr	getConeGenerator ()
Public Member Functions inherited from VirtualRobot::BasicGraspQualityMeasure
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	BasicGraspQualityMeasure (VirtualRobot::SceneObjectPtr object)
virtual	~BasicGraspQualityMeasure ()
	Destructor. More...
virtual void	setContactPoints (const VirtualRobot::EndEffector::ContactInfoVector &contactPoints)
virtual void	setContactPoints (const std::vector< VirtualRobot::MathTools::ContactPoint > &contactPoints6d)
virtual float	getGraspQuality ()
	Returns calculated grasp quality. More...
virtual bool	calculateGraspQuality ()
	Compute the grasp quality for the given contact points. More...
virtual Eigen::Vector3f	getCoM ()
virtual VirtualRobot::MathTools::ContactPoint	getContactPointsCenter ()
virtual void	setVerbose (bool enable)
VirtualRobot::SceneObjectPtr	getObject ()

Protected Member Functions
bool	sampleObjectPoints (int nMaxFaces=400)

Protected Attributes
float	unitForce
float	frictionCoeff
int	frictionConeSamples
ContactConeGeneratorPtr	coneGenerator
std::vector< VirtualRobot::MathTools::ContactPoint >	sampledObjectPoints
std::vector< VirtualRobot::MathTools::ContactPoint >	sampledObjectPointsM
Protected Attributes inherited from VirtualRobot::BasicGraspQualityMeasure
Eigen::Vector3f	centerOfModel
float	objectLength
float	graspQuality
int	maxContacts
VirtualRobot::SceneObjectPtr	object
std::vector< VirtualRobot::MathTools::ContactPoint >	contactPoints
std::vector< VirtualRobot::MathTools::ContactPoint >	contactPointsM
bool	verbose

Detailed Description

An interface class for grasp quality algorithms that offer a force closure test.

See also

GraspQualityMeasureWrenchSpace

VirtualRobot::BasicGraspQualityMeasure

Constructor & Destructor Documentation

GraspQualityMeasure()

GraspStudio::GraspQualityMeasure::GraspQualityMeasure	(	VirtualRobot::SceneObjectPtr	object,
		float	unitForce = 1.0f,
		float	frictionConeCoeff = 0.35f,
		int	frictionConeSamples = 8
	)

Constructor.

~GraspQualityMeasure()

GraspStudio::GraspQualityMeasure::~GraspQualityMeasure ( )

overridevirtualdefault

Destructor.

Member Function Documentation

calculateObjectProperties()

virtual bool GraspStudio::GraspQualityMeasure::calculateObjectProperties ( )

pure virtual

This method is used to compute a reference value that describes a perfect grasp.

Implemented in GraspStudio::GraspQualityMeasureWrenchSpace, and GraspStudio::GraspQualityMeasureWrenchSpaceNotNormalized.

getConeGenerator()

GraspStudio::ContactConeGeneratorPtr GraspStudio::GraspQualityMeasure::getConeGenerator ( )

virtual

getName()

std::string GraspStudio::GraspQualityMeasure::getName ( )

overridevirtual

Returns description of this object.

Reimplemented from VirtualRobot::BasicGraspQualityMeasure.

Reimplemented in GraspStudio::GraspQualityMeasureWrenchSpace, and GraspStudio::GraspQualityMeasureWrenchSpaceNotNormalized.

getSampledObjectPointsCenter()

MathTools::ContactPoint GraspStudio::GraspQualityMeasure::getSampledObjectPointsCenter ( )

virtual

isGraspForceClosure()

virtual bool GraspStudio::GraspQualityMeasure::isGraspForceClosure ( )

pure virtual

Indicate whether the grasp is in force closure.

Implemented in GraspStudio::GraspQualityMeasureWrenchSpace, and GraspStudio::GraspQualityMeasureWrenchSpaceNotNormalized.

isValid()

bool GraspStudio::GraspQualityMeasure::isValid ( )

overridevirtual

Reimplemented from VirtualRobot::BasicGraspQualityMeasure.

sampleObjectPoints()

bool GraspStudio::GraspQualityMeasure::sampleObjectPoints ( int  nMaxFaces = 400 )

protected

Field Documentation

coneGenerator

ContactConeGeneratorPtr GraspStudio::GraspQualityMeasure::coneGenerator

protected

frictionCoeff

float GraspStudio::GraspQualityMeasure::frictionCoeff

protected

frictionConeSamples

int GraspStudio::GraspQualityMeasure::frictionConeSamples

protected

sampledObjectPoints

std::vector<VirtualRobot::MathTools::ContactPoint> GraspStudio::GraspQualityMeasure::sampledObjectPoints

protected

sampledObjectPointsM

std::vector<VirtualRobot::MathTools::ContactPoint> GraspStudio::GraspQualityMeasure::sampledObjectPointsM

protected

unitForce

float GraspStudio::GraspQualityMeasure::unitForce

protected