Inheritance diagram for VirtualRobot::ChainedGrasp:

Data Structures
struct	VirtualJoint

Public Member Functions
	ChainedGrasp (const std::string &name, const std::string &robotType, const std::string &eef, const Eigen::Matrix4f &poseInTCPCoordSystem, const std::string &creation="", float quality=0.0f, const std::string &eefPreshape="")

virtual	~ChainedGrasp ()

virtual void	print (bool printDecoration=true) const override

RobotNodePtr	attachChain (RobotPtr robot, GraspableSensorizedObjectPtr object, bool addObjectVisualization=false)

void	updateChain (RobotPtr robot)

void	detachChain (RobotPtr robot)

void	sampleGraspsUniform (std::vector< Eigen::Matrix4f > &grasps, RobotPtr robot, unsigned int grid)

std::vector< RobotPtr >	sampleHandsUniform (RobotPtr robot, unsigned int grid)

VirtualJoint *	getVirtualJoint (const std::string &name)

std::vector< float >	getUsedVirtualLimits () const

Eigen::Vector3f	getPositionXYZ () const

Eigen::Vector3f	getOrientationRPY () const

virtual Eigen::Matrix4f	getTransformation () const override

Eigen::Matrix4f	getLocalPoseGrasp ()

void	setObjectTransformation (const Eigen::Matrix4f &graspableObjectCoordSysTransformation)

std::vector< std::string >	getNames (bool onlyAdaptable=true)

RobotNodeSetPtr	createRobotNodeSet (RobotPtr robot, RobotNodeSetPtr rns)

bool	visualizeRotationCoordSystem (RobotPtr robot, bool visible=true)

virtual GraspPtr	clone () const override

std::string	ROBOT_NODE_NAME (const std::string &virtualJointName)

RobotNodePtr	getObjectNode (RobotPtr robot)

RobotNodePtr	getVirtualNode (RobotPtr robot, const std::string &virtualName)

EndEffectorPtr	getEndEffector (RobotPtr robot)

RobotNodePtr	getTCP (RobotPtr robot)

Public Member Functions inherited from VirtualRobot::Grasp
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Grasp (const std::string &name, const std::string &robotType, const std::string &eef, const Eigen::Matrix4f &poseInTCPCoordSystem, const std::string &creation="", float quality=0.0f, const std::string &eefPreshape="")

virtual	~Grasp ()

void	setName (const std::string &name)

void	setPreshape (const std::string &preshapeName)

Eigen::Matrix4f	getTargetPoseGlobal (RobotPtr robot) const

Eigen::Matrix4f	getTcpPoseGlobal (const Eigen::Matrix4f &objectPose) const

Eigen::Matrix4f	getTcpPoseRobotRoot (const Eigen::Matrix4f &objectPose, const RobotPtr &robot) const

Eigen::Matrix4f	getObjectTargetPoseGlobal (const Eigen::Matrix4f &graspingPose) const

void	setTransformation (const Eigen::Matrix4f &tcp2Object)

std::string	getName () const

std::string	getRobotType () const

std::string	getEefName () const

std::string	getCreationMethod () const

std::string	getPreshapeName () const

float	getQuality () const

void	setQuality (float q)

std::string	toXML (int tabs=2) const

std::map< std::string, float >	getConfiguration () const
	Returns the (optionally) stored configuration of the fingers / actors. More...

void	setConfiguration (const std::map< std::string, float > &config)
	Optionally the configuration of the fingers / actors can be stored. More...

Data Fields
VirtualJoint	x

VirtualJoint	y

VirtualJoint	z

VirtualJoint	roll

VirtualJoint	pitch

VirtualJoint	yaw

Protected Member Functions
virtual std::string	getTransformationXML (const std::string &tabs) const override

Additional Inherited Members
Protected Attributes inherited from VirtualRobot::Grasp
std::map< std::string, float >	eefConfiguration
	Optional: the configuration of the actors. More...

Eigen::Matrix4f	poseTcp
	The pose in TCP's coordinate system. More...

std::string	robotType

std::string	eef
	The eef specifies which TCP node should be used. More...

std::string	name

std::string	creation

float	quality

std::string	preshape
	Optionally an eef-preshape can be defined. More...

Constructor & Destructor Documentation

◆ ChainedGrasp()

VirtualRobot::ChainedGrasp::ChainedGrasp	(	const std::string &	name,
		const std::string &	robotType,
		const std::string &	eef,
		const Eigen::Matrix4f &	poseInTCPCoordSystem,
		const std::string &	creation = `""`,
		float	quality = `0.0f`,
		const std::string &	eefPreshape = `""`
	)

◆ ~ChainedGrasp()

VirtualRobot::ChainedGrasp::~ChainedGrasp ( )

virtual

Member Function Documentation

◆ attachChain()

RobotNodePtr VirtualRobot::ChainedGrasp::attachChain	(	RobotPtr	robot,
		GraspableSensorizedObjectPtr	object,
		bool	addObjectVisualization = `false`
	)

◆ clone()

GraspPtr VirtualRobot::ChainedGrasp::clone ( ) const

overridevirtual

Reimplemented from VirtualRobot::Grasp.

◆ createRobotNodeSet()

RobotNodeSetPtr VirtualRobot::ChainedGrasp::createRobotNodeSet	(	RobotPtr	robot,
		RobotNodeSetPtr	rns
	)

◆ detachChain()

void VirtualRobot::ChainedGrasp::detachChain ( RobotPtr robot )

◆ getEndEffector()

EndEffectorPtr VirtualRobot::ChainedGrasp::getEndEffector ( RobotPtr robot )

◆ getLocalPoseGrasp()

Eigen::Matrix4f VirtualRobot::ChainedGrasp::getLocalPoseGrasp ( )

Returns hand pose in object coordinate system

◆ getNames()

std::vector< std::string > VirtualRobot::ChainedGrasp::getNames ( bool onlyAdaptable = true )

◆ getObjectNode()

RobotNodePtr VirtualRobot::ChainedGrasp::getObjectNode ( RobotPtr robot )

◆ getOrientationRPY()

Eigen::Vector3f VirtualRobot::ChainedGrasp::getOrientationRPY ( ) const

◆ getPositionXYZ()

Eigen::Vector3f VirtualRobot::ChainedGrasp::getPositionXYZ ( ) const

◆ getTCP()

RobotNodePtr VirtualRobot::ChainedGrasp::getTCP ( RobotPtr robot )

◆ getTransformation()

Eigen::Matrix4f VirtualRobot::ChainedGrasp::getTransformation ( ) const

overridevirtual

Return the transformation of this grasp. The transformation is given in the coordinate system of the tcp (whereas the tcp belongs to the eef). This transformation specifies the tcp to object relation (object in tcp frame).

Reimplemented from VirtualRobot::Grasp.

◆ getTransformationXML()

std::string VirtualRobot::ChainedGrasp::getTransformationXML ( const std::string & tabs ) const

overrideprotectedvirtual

Reimplemented from VirtualRobot::Grasp.

◆ getUsedVirtualLimits()

std::vector< float > VirtualRobot::ChainedGrasp::getUsedVirtualLimits ( ) const

◆ getVirtualJoint()

ChainedGrasp::VirtualJoint * VirtualRobot::ChainedGrasp::getVirtualJoint ( const std::string & name )

◆ getVirtualNode()

RobotNodePtr VirtualRobot::ChainedGrasp::getVirtualNode	(	RobotPtr	robot,
		const std::string &	virtualName
	)

◆ print()

void VirtualRobot::ChainedGrasp::print ( bool printDecoration = true ) const

overridevirtual

Reimplemented from VirtualRobot::Grasp.

◆ ROBOT_NODE_NAME()

std::string VirtualRobot::ChainedGrasp::ROBOT_NODE_NAME ( const std::string & virtualJointName )

◆ sampleGraspsUniform()

void VirtualRobot::ChainedGrasp::sampleGraspsUniform	(	std::vector< Eigen::Matrix4f > &	grasps,
		RobotPtr	robot,
		unsigned int	grid
	)

◆ sampleHandsUniform()

std::vector< RobotPtr > VirtualRobot::ChainedGrasp::sampleHandsUniform	(	RobotPtr	robot,
		unsigned int	grid
	)

◆ setObjectTransformation()

void VirtualRobot::ChainedGrasp::setObjectTransformation ( const Eigen::Matrix4f & graspableObjectCoordSysTransformation )

◆ updateChain()

void VirtualRobot::ChainedGrasp::updateChain ( RobotPtr robot )

◆ visualizeRotationCoordSystem()

bool VirtualRobot::ChainedGrasp::visualizeRotationCoordSystem	(	RobotPtr	robot,
		bool	visible = `true`
	)

Field Documentation

◆ pitch

VirtualJoint VirtualRobot::ChainedGrasp::pitch

◆ roll

VirtualJoint VirtualRobot::ChainedGrasp::roll

◆ x

VirtualJoint VirtualRobot::ChainedGrasp::x

◆ y

VirtualJoint VirtualRobot::ChainedGrasp::y

◆ yaw

VirtualJoint VirtualRobot::ChainedGrasp::yaw

◆ z

VirtualJoint VirtualRobot::ChainedGrasp::z

Data Structures

Public Member Functions

Data Fields

Protected Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChainedGrasp()

◆ ~ChainedGrasp()

Member Function Documentation

◆ attachChain()

◆ clone()

◆ createRobotNodeSet()

◆ detachChain()

◆ getEndEffector()

◆ getLocalPoseGrasp()

◆ getNames()

◆ getObjectNode()

◆ getOrientationRPY()

◆ getPositionXYZ()

◆ getTCP()

◆ getTransformation()

◆ getTransformationXML()

◆ getUsedVirtualLimits()

◆ getVirtualJoint()

◆ getVirtualNode()

◆ print()

◆ ROBOT_NODE_NAME()

◆ sampleGraspsUniform()

◆ sampleHandsUniform()

◆ setObjectTransformation()

◆ updateChain()

◆ visualizeRotationCoordSystem()

Field Documentation

◆ pitch

◆ roll

◆ x

◆ y

◆ yaw

◆ z