Inheritance diagram for VirtualRobot::NaturalPosture:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	NaturalPosture (RobotPtr robot)

void	customInitialize () override

void	addPose (const Eigen::Matrix4f &pose) override

Public Member Functions inherited from VirtualRobot::WorkspaceRepresentation
	WorkspaceRepresentation (RobotPtr robot)

virtual void	reset ()

virtual void	load (const std::string &filename)

virtual void	save (const std::string &filename)

unsigned char	getEntry (const Eigen::Matrix4f &globalPose) const

int	getMaxEntry () const
	Returns the maximum entry of a voxel. More...

float	getVoxelSize (int dim) const
	returns the extends of a voxel at corresponding dimension. More...

RobotNodePtr	getBaseNode ()
	The base node of this workspace data. More...

RobotNodePtr	getTCP ()
	The corresponding TCP. More...

RobotNodeSetPtr	getNodeSet ()
	The kinematic chain that is covered by this workspace data. More...

void	invalidateBehindRobot (bool inverted=false)

virtual void	initialize (RobotNodeSetPtr nodeSet, float discretizeStepTranslation, float discretizeStepRotation, const float minBounds[6], const float maxBounds[6], SceneObjectSetPtr staticCollisionModel=SceneObjectSetPtr(), SceneObjectSetPtr dynamicCollisionModel=SceneObjectSetPtr(), RobotNodePtr baseNode=RobotNodePtr(), RobotNodePtr tcpNode=RobotNodePtr(), bool adjustOnOverflow=true)

virtual void	setCurrentTCPPoseEntryIfLower (unsigned char e)

virtual void	setCurrentTCPPoseEntry (unsigned char e)

virtual void	addPose (const Eigen::Matrix4f &p, PoseQualityMeasurementPtr qualMeasure)
	addPose Adds pose and rate it with the given quality measure. Ignored in this implementation, but used in derived classes ( More...

virtual void	clear ()

virtual bool	setRobotNodesToRandomConfig (VirtualRobot::RobotNodeSetPtr nodeSet=VirtualRobot::RobotNodeSetPtr(), bool checkForSelfCollisions=true)

virtual void	binarize ()

virtual int	fillHoles (unsigned int minNeighbors=1)

virtual void	print ()

Eigen::Matrix4f	sampleCoveredPose ()
	returns a random pose that is covered by the workspace data More...

bool	isCovered (const Eigen::Matrix4f &globalPose)

bool	isCovered (unsigned int v[6])

virtual int	getNumVoxels (int dim) const

virtual float	getMinBound (int dim) const

virtual float	getMaxBound (int dim) const

virtual unsigned char	getVoxelEntry (unsigned int a, unsigned int b, unsigned int c, unsigned int d, unsigned int e, unsigned int f) const

virtual int	sumAngleReachabilities (int x0, int x1, int x2) const

virtual int	avgAngleReachabilities (int x0, int x1, int x2) const

virtual int	getMaxEntry (int x0, int x1, int x2) const

virtual int	getMaxEntry (const Eigen::Vector3f &position_global) const

virtual bool	getVoxelFromPose (const Eigen::Matrix4f &globalPose, unsigned int v[6]) const

virtual bool	getVoxelFromPosition (const Eigen::Matrix4f &globalPose, unsigned int v[3]) const

Eigen::Matrix4f	getPoseFromVoxel (unsigned int v[6], bool transformToGlobalPose=true)

Eigen::Matrix4f	getPoseFromVoxel (float v[6], bool transformToGlobalPose=true)

virtual int	getMaxSummedAngleReachablity ()

virtual bool	hasEntry (unsigned int x, unsigned int y, unsigned int z)

virtual bool	checkForParameters (RobotNodeSetPtr nodeSet, float steps, float storeMinBounds[6], float storeMaxBounds[6], RobotNodePtr baseNode=RobotNodePtr(), RobotNodePtr tcpNode=RobotNodePtr())

WorkspaceCut2DPtr	createCut (const Eigen::Matrix4f &referencePose, float cellSize, bool sumAngles) const

WorkspaceCut2DPtr	createCut (float heightPercent, float cellSize, bool sumAngles) const
	createCut Create a cut at a specific height (assuming z is upwards). More...

std::vector< WorkspaceCut2DTransformationPtr >	createCutTransformations (WorkspaceCut2DPtr cutXY, RobotNodePtr referenceNode=RobotNodePtr(), float maxAngle=M_PIf32)

bool	getWorkspaceExtends (Eigen::Vector3f &storeMinBBox, Eigen::Vector3f &storeMaxBBox) const

MathTools::OOBB	getOOBB (bool achievedValues=false) const

float	getDiscretizeParameterTranslation ()

float	getDiscretizeParameterRotation ()

RobotPtr	getRobot ()

SceneObjectSetPtr	getCollisionModelStatic ()

SceneObjectSetPtr	getCollisionModelDynamic ()

RobotNodePtr	getTcp ()

bool	getAdjustOnOverflow ()

virtual void	addCurrentTCPPose ()

void	addRandomTCPPoses (unsigned int loops, bool checkForSelfCollisions=true)

virtual void	addRandomTCPPoses (unsigned int loops, unsigned int numThreads, bool checkForSelfCollisions=true)

void	setVoxelEntry (unsigned int v[6], unsigned char e)

void	setEntry (const Eigen::Matrix4f &poseGlobal, unsigned char e)

void	setEntryCheckNeighbors (const Eigen::Matrix4f &poseGlobal, unsigned char e, unsigned int neighborVoxels)

virtual void	toLocal (Eigen::Matrix4f &p) const

virtual void	toGlobal (Eigen::Matrix4f &p) const

void	toLocalVec (Eigen::Vector3f &positionGlobal) const

void	toGlobalVec (Eigen::Vector3f &positionLocal) const

void	matrix2Vector (const Eigen::Matrix4f &m, float x[6]) const
	Convert a 4x4 matrix to a pos + ori vector. More...

void	vector2Matrix (const float x[6], Eigen::Matrix4f &m) const

void	vector2Matrix (const Eigen::Vector3f &pos, const Eigen::Vector3f &rot, Eigen::Matrix4f &m) const

virtual bool	getVoxelFromPose (float x[6], unsigned int v[6]) const

virtual bool	getVoxelFromPosition (float x[3], unsigned int v[3]) const

void	setOrientationType (eOrientationType t)

virtual WorkspaceRepresentationPtr	clone ()

WorkspaceDataPtr	getData ()

bool	getPoseFromVoxel (unsigned int x[], float v[]) const

virtual VolumeInfo	computeVolumeInformation ()

Protected Member Functions
float	evaluate ()

Protected Member Functions inherited from VirtualRobot::WorkspaceRepresentation
virtual bool	customLoad (std::ifstream &)

virtual bool	customSave (std::ofstream &)

virtual void	customPrint ()

void	uncompressData (const unsigned char source, int size, unsigned char dest)
	Uncompress the data. More...

unsigned char *	compressData (const unsigned char *source, int size, int &compressedSize)
	Compress the data. More...

virtual Eigen::Matrix4f	getToLocalTransformation () const

virtual Eigen::Matrix4f	getToGlobalTransformation () const

Friends
class	CoinVisualizationFactory

Additional Inherited Members
Public Types inherited from VirtualRobot::WorkspaceRepresentation
enum	eOrientationType { RPY, EulerXYZ, EulerXYZExtrinsic, Hopf }

typedef int32_t	ioIntTypeRead

typedef std::shared_ptr< WorkspaceCut2D >	WorkspaceCut2DPtr

typedef std::shared_ptr< WorkspaceCut2DTransformation >	WorkspaceCut2DTransformationPtr

Data Fields inherited from VirtualRobot::WorkspaceRepresentation
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef int32_t	ioIntTypeWrite

Protected Attributes inherited from VirtualRobot::WorkspaceRepresentation
RobotPtr	robot

RobotNodePtr	baseNode

RobotNodePtr	tcpNode

RobotNodeSetPtr	nodeSet

SceneObjectSetPtr	staticCollisionModel

SceneObjectSetPtr	dynamicCollisionModel

int	buildUpLoops

int	collisionConfigs

float	discretizeStepTranslation

float	discretizeStepRotation

float	minBounds [6]

float	maxBounds [6]

int	numVoxels [6]

float	achievedMinValues [6]

float	achievedMaxValues [6]

float	spaceSize [6]

WorkspaceDataPtr	data

bool	adjustOnOverflow

std::string	type

int	versionMajor

int	versionMinor

eOrientationType	orientationType
	Specifies how the rotation part (x[3],x[4],x[5]) of an 6D voxel entry is encoded. More...

Constructor & Destructor Documentation

◆ NaturalPosture()

VirtualRobot::NaturalPosture::NaturalPosture ( RobotPtr robot )

Member Function Documentation

◆ addPose()

void VirtualRobot::NaturalPosture::addPose ( const Eigen::Matrix4f & pose )

overridevirtual

Reimplemented from VirtualRobot::WorkspaceRepresentation.

◆ customInitialize()

void VirtualRobot::NaturalPosture::customInitialize ( )

overridevirtual

Reimplemented from VirtualRobot::WorkspaceRepresentation.

◆ evaluate()

float VirtualRobot::NaturalPosture::evaluate ( )

protected

Returns true, if the corresponding NaturalPosture entry is non zero.

Returns all reachable grasps that can be applied at the current position of object.

Creates a deep copy of this data structure. A NaturalPosturePtr is returned.

Friends And Related Function Documentation

◆ CoinVisualizationFactory

friend class CoinVisualizationFactory

friend

Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members