VirtualRobot::BasicGraspQualityMeasure Class Reference

An interface class for grasp quality algorithms. A basic quality score, relying on the number of contacts, is served by this implementation. More...

Inheritance diagram for VirtualRobot::BasicGraspQualityMeasure:

Public Member Functions
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)
virtual std::string	getName ()
	Returns description of this object. More...
VirtualRobot::SceneObjectPtr	getObject ()
virtual bool	isValid ()

Protected Attributes
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. A basic quality score, relying on the number of contacts, is served by this implementation.

See also

GraspStudio::GraspQualityMeasureWrenchSpace

Constructor & Destructor Documentation

BasicGraspQualityMeasure()

VirtualRobot::BasicGraspQualityMeasure::BasicGraspQualityMeasure

(

VirtualRobot::SceneObjectPtr

object

)

~BasicGraspQualityMeasure()

VirtualRobot::BasicGraspQualityMeasure::~BasicGraspQualityMeasure ( )

virtualdefault

Destructor.

Member Function Documentation

calculateGraspQuality()

bool VirtualRobot::BasicGraspQualityMeasure::calculateGraspQuality ( )

virtual

Compute the grasp quality for the given contact points.

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

getCoM()

Eigen::Vector3f VirtualRobot::BasicGraspQualityMeasure::getCoM ( )

virtual

getContactPointsCenter()

MathTools::ContactPoint VirtualRobot::BasicGraspQualityMeasure::getContactPointsCenter ( )

virtual

getGraspQuality()

float VirtualRobot::BasicGraspQualityMeasure::getGraspQuality ( )

virtual

Returns calculated grasp quality.

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

getName()

std::string VirtualRobot::BasicGraspQualityMeasure::getName ( )

virtual

Returns description of this object.

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

getObject()

VirtualRobot::SceneObjectPtr VirtualRobot::BasicGraspQualityMeasure::getObject

(

)

isValid()

bool VirtualRobot::BasicGraspQualityMeasure::isValid ( )

virtual

Reimplemented in GraspStudio::GraspQualityMeasure.

setContactPoints() [1/2]

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

virtual

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

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

setContactPoints() [2/2]

void VirtualRobot::BasicGraspQualityMeasure::setContactPoints ( const std::vector< VirtualRobot::MathTools::ContactPoint > &  contactPoints6d )

virtual

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

setVerbose()

void VirtualRobot::BasicGraspQualityMeasure::setVerbose ( bool  enable )

virtual

Field Documentation

centerOfModel

Eigen::Vector3f VirtualRobot::BasicGraspQualityMeasure::centerOfModel

protected

contactPoints

std::vector<VirtualRobot::MathTools::ContactPoint> VirtualRobot::BasicGraspQualityMeasure::contactPoints

protected

contactPointsM

std::vector<VirtualRobot::MathTools::ContactPoint> VirtualRobot::BasicGraspQualityMeasure::contactPointsM

protected

graspQuality

float VirtualRobot::BasicGraspQualityMeasure::graspQuality

protected

maxContacts

int VirtualRobot::BasicGraspQualityMeasure::maxContacts

protected

object

VirtualRobot::SceneObjectPtr VirtualRobot::BasicGraspQualityMeasure::object

protected

objectLength

float VirtualRobot::BasicGraspQualityMeasure::objectLength

protected

verbose

bool VirtualRobot::BasicGraspQualityMeasure::verbose

protected