An efficient implementation of the grasp wrench space algorithm for grasp quality evaluation. More...

Inheritance diagram for GraspStudio::GraspQualityMeasureWrenchSpace:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	GraspQualityMeasureWrenchSpace (VirtualRobot::SceneObjectPtr object, float unitForce=1.0f, float frictionConeCoeff=0.35f, int frictionConeSamples=8)

	~GraspQualityMeasureWrenchSpace () override

virtual void	preCalculatedOWS (float minDist, float volume)

float	getGraspQuality () override

virtual float	getVolumeGraspMeasure ()

bool	isGraspForceClosure () override
	Indicate whether the grasp is in force closure. More...

virtual VirtualRobot::MathTools::ConvexHull6DPtr	getConvexHullOWS ()

virtual VirtualRobot::MathTools::ConvexHull6DPtr	getConvexHullGWS ()

void	calculateOWS (int samplePoints=300)

void	calculateGWS ()

bool	OWSExists ()

bool	GWSExists ()

VirtualRobot::MathTools::ContactPoint	getCenterGWS ()

VirtualRobot::MathTools::ContactPoint	getCenterOWS ()

void	setContactPoints (const std::vector< VirtualRobot::MathTools::ContactPoint > &contactPoints) override

void	setContactPoints (const VirtualRobot::EndEffector::ContactInfoVector &contactPoints) override

bool	calculateGraspQuality () override
	Compute the grasp quality for the given contact points. More...

bool	calculateObjectProperties () override
	This method is used to compute a reference value that describes a perfect grasp. More...

std::string	getName () override
	Returns description of this object. More...

virtual float	getOWSMinOffset ()

virtual float	getOWSVolume ()

Public Member Functions inherited from GraspStudio::GraspQualityMeasure
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 VirtualRobot::MathTools::ContactPoint	getSampledObjectPointsCenter ()

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 Eigen::Vector3f	getCoM ()

virtual VirtualRobot::MathTools::ContactPoint	getContactPointsCenter ()

virtual void	setVerbose (bool enable)

VirtualRobot::SceneObjectPtr	getObject ()

Static Public Member Functions
static std::vector< VirtualRobot::MathTools::ContactPoint >	createWrenchPoints (std::vector< VirtualRobot::MathTools::ContactPoint > &points, const Eigen::Vector3f &centerOfModel, float objectLengthMM)

static float	minOffset (VirtualRobot::MathTools::ConvexHull6DPtr ch)
	Goes through all facets of convex hull and searches the minimum distance to it's center. More...

Protected Member Functions
VirtualRobot::MathTools::ConvexHull6DPtr	calculateConvexHull (std::vector< VirtualRobot::MathTools::ContactPoint > &points)

VirtualRobot::MathTools::ContactPoint	calculateHullCenter (VirtualRobot::MathTools::ConvexHull6DPtr hull)

float	minDistanceToGWSHull (VirtualRobot::MathTools::ContactPoint &point)

bool	isOriginInGWSHull ()

void	printContacts (std::vector< VirtualRobot::MathTools::ContactPoint > &points)

Protected Member Functions inherited from GraspStudio::GraspQualityMeasure
bool	sampleObjectPoints (int nMaxFaces=400)

Static Protected Member Functions
static Eigen::Vector3f	crossProductPosNormalInv (const VirtualRobot::MathTools::ContactPoint &v1)

Protected Attributes
bool	OWSCalculated

bool	GWSCalculated

VirtualRobot::MathTools::ConvexHull6DPtr	convexHullOWS

VirtualRobot::MathTools::ConvexHull6DPtr	convexHullGWS

VirtualRobot::MathTools::ContactPoint	convexHullCenterGWS

VirtualRobot::MathTools::ContactPoint	convexHullCenterOWS

float	minOffsetOWS

float	volumeOWS

Protected Attributes inherited from GraspStudio::GraspQualityMeasure
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 efficient implementation of the grasp wrench space algorithm for grasp quality evaluation.

the grasp wrench space algorithm is widely used in the context of grasp planning. By analyzing the grasp wrench space (GWS) of a given set of contact points, a quality score of a grasp can be evaluated. In this implementation, additionally an object specific wrench space (WS) is calculated, which approximatevly represents a "perfect" grasp. This object is used to normalize the quality score.

Constructor & Destructor Documentation

◆ GraspQualityMeasureWrenchSpace()

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

◆ ~GraspQualityMeasureWrenchSpace()

GraspStudio::GraspQualityMeasureWrenchSpace::~GraspQualityMeasureWrenchSpace ( )

overridedefault

Member Function Documentation

◆ calculateConvexHull()

VirtualRobot::MathTools::ConvexHull6DPtr GraspStudio::GraspQualityMeasureWrenchSpace::calculateConvexHull ( std::vector< VirtualRobot::MathTools::ContactPoint > & points )

protected

◆ calculateGraspQuality()

bool GraspStudio::GraspQualityMeasureWrenchSpace::calculateGraspQuality ( )

overridevirtual

Compute the grasp quality for the given contact points.

Reimplemented from VirtualRobot::BasicGraspQualityMeasure.

◆ calculateGWS()

void GraspStudio::GraspQualityMeasureWrenchSpace::calculateGWS ( )

◆ calculateHullCenter()

VirtualRobot::MathTools::ContactPoint GraspStudio::GraspQualityMeasureWrenchSpace::calculateHullCenter ( VirtualRobot::MathTools::ConvexHull6DPtr hull )

protected

◆ calculateObjectProperties()

bool GraspStudio::GraspQualityMeasureWrenchSpace::calculateObjectProperties ( )

overridevirtual

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

Implements GraspStudio::GraspQualityMeasure.

◆ calculateOWS()

void GraspStudio::GraspQualityMeasureWrenchSpace::calculateOWS ( int samplePoints = 300 )

◆ createWrenchPoints()

std::vector< VirtualRobot::MathTools::ContactPoint > GraspStudio::GraspQualityMeasureWrenchSpace::createWrenchPoints	(	std::vector< VirtualRobot::MathTools::ContactPoint > &	points,
		const Eigen::Vector3f &	centerOfModel,
		float	objectLengthMM
	)

static

◆ crossProductPosNormalInv()

Eigen::Vector3f GraspStudio::GraspQualityMeasureWrenchSpace::crossProductPosNormalInv ( const VirtualRobot::MathTools::ContactPoint & v1 )

staticprotected

◆ getCenterGWS()

VirtualRobot::MathTools::ContactPoint GraspStudio::GraspQualityMeasureWrenchSpace::getCenterGWS ( )

inline

◆ getCenterOWS()

VirtualRobot::MathTools::ContactPoint GraspStudio::GraspQualityMeasureWrenchSpace::getCenterOWS ( )

inline

◆ getConvexHullGWS()

virtual VirtualRobot::MathTools::ConvexHull6DPtr GraspStudio::GraspQualityMeasureWrenchSpace::getConvexHullGWS ( )

inlinevirtual

◆ getConvexHullOWS()

virtual VirtualRobot::MathTools::ConvexHull6DPtr GraspStudio::GraspQualityMeasureWrenchSpace::getConvexHullOWS ( )

inlinevirtual

◆ getGraspQuality()

float GraspStudio::GraspQualityMeasureWrenchSpace::getGraspQuality ( )

overridevirtual

Returns f_max_gws / f_max_OWS with f_max_gws = max distance of GWS hull center to one of its facets with f_max_ows = max distance of OWS hull center to one of its facets -> also known as "epsilon" quality == radius of larges enclosing 6D ball

Reimplemented from VirtualRobot::BasicGraspQualityMeasure.

◆ getName()

std::string GraspStudio::GraspQualityMeasureWrenchSpace::getName ( )

overridevirtual

Returns description of this object.

Reimplemented from GraspStudio::GraspQualityMeasure.

◆ getOWSMinOffset()

virtual float GraspStudio::GraspQualityMeasureWrenchSpace::getOWSMinOffset ( )

inlinevirtual

◆ getOWSVolume()

virtual float GraspStudio::GraspQualityMeasureWrenchSpace::getOWSVolume ( )

inlinevirtual

◆ getVolumeGraspMeasure()

float GraspStudio::GraspQualityMeasureWrenchSpace::getVolumeGraspMeasure ( )

virtual

Volume grasp quality ratio of GWS volume / OWS volume -> also known as "v" quality

◆ GWSExists()

bool GraspStudio::GraspQualityMeasureWrenchSpace::GWSExists ( )

inline

◆ isGraspForceClosure()

bool GraspStudio::GraspQualityMeasureWrenchSpace::isGraspForceClosure ( )

overridevirtual

Indicate whether the grasp is in force closure.

Implements GraspStudio::GraspQualityMeasure.

◆ isOriginInGWSHull()

bool GraspStudio::GraspQualityMeasureWrenchSpace::isOriginInGWSHull ( )

protected

◆ minDistanceToGWSHull()

float GraspStudio::GraspQualityMeasureWrenchSpace::minDistanceToGWSHull ( VirtualRobot::MathTools::ContactPoint & point )

protected

◆ minOffset()

float GraspStudio::GraspQualityMeasureWrenchSpace::minOffset ( VirtualRobot::MathTools::ConvexHull6DPtr ch )

static

Goes through all facets of convex hull and searches the minimum distance to it's center.

◆ OWSExists()

bool GraspStudio::GraspQualityMeasureWrenchSpace::OWSExists ( )

inline

◆ preCalculatedOWS()

void GraspStudio::GraspQualityMeasureWrenchSpace::preCalculatedOWS	(	float	minDist,
		float	volume
	)

virtual

The OWS should not change for an object, so if you have the data calculated once, you can set them here (The values for the OWS can change slightly, since the facets used for generation of the OWS are sampled randomly, in case there are more than 400 of them)

◆ printContacts()

void GraspStudio::GraspQualityMeasureWrenchSpace::printContacts ( std::vector< VirtualRobot::MathTools::ContactPoint > & points )

protected

◆ setContactPoints() [1/2]

void GraspStudio::GraspQualityMeasureWrenchSpace::setContactPoints ( const std::vector< VirtualRobot::MathTools::ContactPoint > & contactPoints )

overridevirtual

setup contact information the contact points are normalized by subtracting the COM the contact normals are normalize to unit length

Reimplemented from VirtualRobot::BasicGraspQualityMeasure.

◆ setContactPoints() [2/2]

void GraspStudio::GraspQualityMeasureWrenchSpace::setContactPoints ( const VirtualRobot::EndEffector::ContactInfoVector & contactPoints )

overridevirtual

setup contact information the contact points are normalized by subtracting the COM the contact normals are normalize to unit length

Reimplemented from VirtualRobot::BasicGraspQualityMeasure.

Field Documentation

◆ convexHullCenterGWS

VirtualRobot::MathTools::ContactPoint GraspStudio::GraspQualityMeasureWrenchSpace::convexHullCenterGWS

protected

◆ convexHullCenterOWS

VirtualRobot::MathTools::ContactPoint GraspStudio::GraspQualityMeasureWrenchSpace::convexHullCenterOWS

protected

◆ convexHullGWS

VirtualRobot::MathTools::ConvexHull6DPtr GraspStudio::GraspQualityMeasureWrenchSpace::convexHullGWS

protected

◆ convexHullOWS

VirtualRobot::MathTools::ConvexHull6DPtr GraspStudio::GraspQualityMeasureWrenchSpace::convexHullOWS

protected

◆ GWSCalculated

bool GraspStudio::GraspQualityMeasureWrenchSpace::GWSCalculated

protected

◆ minOffsetOWS

float GraspStudio::GraspQualityMeasureWrenchSpace::minOffsetOWS

protected

◆ OWSCalculated

bool GraspStudio::GraspQualityMeasureWrenchSpace::OWSCalculated

protected

◆ volumeOWS

float GraspStudio::GraspQualityMeasureWrenchSpace::volumeOWS

protected

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ GraspQualityMeasureWrenchSpace()

◆ ~GraspQualityMeasureWrenchSpace()

Member Function Documentation

◆ calculateConvexHull()

◆ calculateGraspQuality()

◆ calculateGWS()

◆ calculateHullCenter()

◆ calculateObjectProperties()

◆ calculateOWS()

◆ createWrenchPoints()

◆ crossProductPosNormalInv()

◆ getCenterGWS()

◆ getCenterOWS()

◆ getConvexHullGWS()

◆ getConvexHullOWS()

◆ getGraspQuality()

◆ getName()

◆ getOWSMinOffset()

◆ getOWSVolume()

◆ getVolumeGraspMeasure()

◆ GWSExists()

◆ isGraspForceClosure()

◆ isOriginInGWSHull()

◆ minDistanceToGWSHull()

◆ minOffset()

◆ OWSExists()

◆ preCalculatedOWS()

◆ printContacts()

◆ setContactPoints() [1/2]

◆ setContactPoints() [2/2]

Field Documentation

◆ convexHullCenterGWS

◆ convexHullCenterOWS

◆ convexHullGWS

◆ convexHullOWS

◆ GWSCalculated

◆ minOffsetOWS

◆ OWSCalculated

◆ volumeOWS