Saba::ApproachDiscretization Class Reference

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ApproachDiscretization (float radius=100.0f, int steps=3)
virtual	~ApproachDiscretization ()
Eigen::Matrix4f	getGlobalPose () const
void	setGlobalPose (const Eigen::Matrix4f &pose)
int	getNearestVertexId (const Eigen::Matrix4f &pose)
int	getNearestVertexIdVec (const Eigen::Vector3f &pos)
int	getNearestFaceId (const Eigen::Matrix4f &pose)
int	getNearestFaceIdVec (const Eigen::Vector3f &pos)
void	removeCSpaceNode (const Eigen::Vector3f &cartPose, CSpaceNodePtr node)
void	removeCSpaceNode (int faceId, CSpaceNodePtr node)
void	addCSpaceNode (const Eigen::Vector3f &cartPos, CSpaceNodePtr node)
void	addCSpaceNode (int faceId, CSpaceNodePtr node)
void	clearCSpaceNodeMapping ()
	Reset. More...
CSpaceNodePtr	getGoodRatedNode (int loops=30)

Detailed Description

This discretization class can be used to encode approach directions. Internally all approach directions are mapped onto the surface of a discretized sphere. Each face of the PoseRelationSphere holds a list with corresponding RRT nodes, lying in the direction that is covered by the triangle. The method getGoodRatedNode can be used to retrieve RRT-nodes for which the approach directions are uniformly sampled. (further details can be found in "Integrated Grasp and Motion Planning", ICRA 2010, Vahrenkamp et al.)

Constructor & Destructor Documentation

ApproachDiscretization()

Saba::ApproachDiscretization::ApproachDiscretization	(	float	radius = 100.0f,
		int	steps = 3
	)

~ApproachDiscretization()

Saba::ApproachDiscretization::~ApproachDiscretization ( )

virtualdefault

Member Function Documentation

addCSpaceNode() [1/2]

void Saba::ApproachDiscretization::addCSpaceNode	(	const Eigen::Vector3f &	cartPos,
		CSpaceNodePtr	node
	)

Add a node of the RRT with corresponding Cartesian pose. The pose should be the resulting EEF's pose.

addCSpaceNode() [2/2]

void Saba::ApproachDiscretization::addCSpaceNode	(	int	faceId,
		CSpaceNodePtr	node
	)

clearCSpaceNodeMapping()

void Saba::ApproachDiscretization::clearCSpaceNodeMapping

(

)

Reset.

getGlobalPose()

Eigen::Matrix4f Saba::ApproachDiscretization::getGlobalPose

(

)

const

getGoodRatedNode()

CSpaceNodePtr Saba::ApproachDiscretization::getGoodRatedNode

(

int

loops = 30

)

Return a RRT node, so that the corresponding Cartesian poses are uniformly sampled over the sphere. Removes the selected RRT node from the internal data. This method just checks loops faces of the sphere, so that the result is approximated.

getNearestFaceId()

int Saba::ApproachDiscretization::getNearestFaceId

(

const Eigen::Matrix4f &

pose

)

Returns Id of the surface face which is nearest to line through center of sphere and pose

Parameters

pose	in global coordinate system, (center of sphere is at globalPose)

getNearestFaceIdVec()

int Saba::ApproachDiscretization::getNearestFaceIdVec

(

const Eigen::Vector3f &

pos

)

getNearestVertexId()

int Saba::ApproachDiscretization::getNearestVertexId

(

const Eigen::Matrix4f &

pose

)

Returns Id of the surface vertex which is nearest to line through center of sphere and pose

Parameters

pose	in global coordinate system, (center of sphere is at globalPose)

getNearestVertexIdVec()

int Saba::ApproachDiscretization::getNearestVertexIdVec

(

const Eigen::Vector3f &

pos

)

removeCSpaceNode() [1/2]

void Saba::ApproachDiscretization::removeCSpaceNode	(	const Eigen::Vector3f &	cartPose,
		CSpaceNodePtr	node
	)

removeCSpaceNode() [2/2]

void Saba::ApproachDiscretization::removeCSpaceNode	(	int	faceId,
		CSpaceNodePtr	node
	)

setGlobalPose()

void Saba::ApproachDiscretization::setGlobalPose

(

const Eigen::Matrix4f &

pose

)

Set the location (only position is used)