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

Inheritance diagram for GraspStudio::GraspQualityMeasureWrenchSpaceNotNormalized:

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

float	getGraspQuality () override

virtual float	getVolumeGraspMeasure ()

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

virtual VirtualRobot::MathTools::ConvexHull6DPtr	getConvexHullGWS ()

void	updateGWS ()

VirtualRobot::MathTools::ContactPoint	getCenterGWS ()

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...

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

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	GWSCalculated {false}

VirtualRobot::MathTools::ConvexHull6DPtr	convexHullGWS

VirtualRobot::MathTools::ContactPoint	convexHullCenterGWS

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.

Member Function Documentation

◆ calculateConvexHull()

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

protected

◆ calculateGraspQuality()

bool GraspStudio::GraspQualityMeasureWrenchSpaceNotNormalized::calculateGraspQuality ( )

overridevirtual

Compute the grasp quality for the given contact points.

Reimplemented from VirtualRobot::BasicGraspQualityMeasure.

◆ calculateHullCenter()

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

protected

◆ calculateObjectProperties()

bool GraspStudio::GraspQualityMeasureWrenchSpaceNotNormalized::calculateObjectProperties ( )

inlineoverridevirtual

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

Implements GraspStudio::GraspQualityMeasure.

◆ createWrenchPoints()

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

static

◆ crossProductPosNormalInv()

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

staticprotected

◆ getCenterGWS()

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

inline

◆ getConvexHullGWS()

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

inlinevirtual

◆ getGraspQuality()

float GraspStudio::GraspQualityMeasureWrenchSpaceNotNormalized::getGraspQuality ( )

overridevirtual

Returns f_max_gws with f_max_gws = max distance of GWS 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::GraspQualityMeasureWrenchSpaceNotNormalized::getName ( )

overridevirtual

Returns description of this object.

Reimplemented from GraspStudio::GraspQualityMeasure.

◆ getVolumeGraspMeasure()

float GraspStudio::GraspQualityMeasureWrenchSpaceNotNormalized::getVolumeGraspMeasure ( )

virtual

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

◆ isGraspForceClosure()

bool GraspStudio::GraspQualityMeasureWrenchSpaceNotNormalized::isGraspForceClosure ( )

overridevirtual

Indicate whether the grasp is in force closure.

Implements GraspStudio::GraspQualityMeasure.

◆ isOriginInGWSHull()

bool GraspStudio::GraspQualityMeasureWrenchSpaceNotNormalized::isOriginInGWSHull ( )

protected

◆ minDistanceToGWSHull()

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

protected

◆ minOffset()

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

static

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

◆ printContacts()

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

protected

◆ setContactPoints() [1/2]

void GraspStudio::GraspQualityMeasureWrenchSpaceNotNormalized::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::GraspQualityMeasureWrenchSpaceNotNormalized::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.

◆ updateGWS()

void GraspStudio::GraspQualityMeasureWrenchSpaceNotNormalized::updateGWS ( )

Field Documentation

◆ convexHullCenterGWS

VirtualRobot::MathTools::ContactPoint GraspStudio::GraspQualityMeasureWrenchSpaceNotNormalized::convexHullCenterGWS

protected

◆ convexHullGWS

VirtualRobot::MathTools::ConvexHull6DPtr GraspStudio::GraspQualityMeasureWrenchSpaceNotNormalized::convexHullGWS

protected

◆ GWSCalculated

bool GraspStudio::GraspQualityMeasureWrenchSpaceNotNormalized::GWSCalculated {false}

protected

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ calculateConvexHull()

◆ calculateGraspQuality()

◆ calculateHullCenter()

◆ calculateObjectProperties()

◆ createWrenchPoints()

◆ crossProductPosNormalInv()

◆ getCenterGWS()

◆ getConvexHullGWS()

◆ getGraspQuality()

◆ getName()

◆ getVolumeGraspMeasure()

◆ isGraspForceClosure()

◆ isOriginInGWSHull()

◆ minDistanceToGWSHull()

◆ minOffset()

◆ printContacts()

◆ setContactPoints() [1/2]

◆ setContactPoints() [2/2]

◆ updateGWS()

Field Documentation

◆ convexHullCenterGWS

◆ convexHullGWS

◆ GWSCalculated