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| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | Reachability (RobotPtr robot) |
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| bool | isReachable (const Eigen::Matrix4f &globalPose) |
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| GraspSetPtr | getReachableGrasps (GraspSetPtr grasps, ManipulationObjectPtr object) |
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| Eigen::Matrix4f | sampleReachablePose () |
| | returns a random pose that is covered by the workspace data. More...
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| WorkspaceRepresentationPtr | clone () override |
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| | WorkspaceRepresentation (RobotPtr robot) |
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| virtual void | reset () |
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| virtual void | load (const std::string &filename) |
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| virtual void | save (const std::string &filename) |
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| unsigned char | getEntry (const Eigen::Matrix4f &globalPose) const |
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| int | getMaxEntry () const |
| | Returns the maximum entry of a voxel. More...
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| float | getVoxelSize (int dim) const |
| | returns the extends of a voxel at corresponding dimension. More...
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| RobotNodePtr | getBaseNode () |
| | The base node of this workspace data. More...
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| RobotNodePtr | getTCP () |
| | The corresponding TCP. More...
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| RobotNodeSetPtr | getNodeSet () |
| | The kinematic chain that is covered by this workspace data. More...
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| void | invalidateBehindRobot (bool inverted=false) |
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| 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) |
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| virtual void | setCurrentTCPPoseEntryIfLower (unsigned char e) |
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| virtual void | setCurrentTCPPoseEntry (unsigned char e) |
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| virtual void | addPose (const Eigen::Matrix4f &globalPose) |
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| 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...
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| virtual void | clear () |
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| virtual bool | setRobotNodesToRandomConfig (VirtualRobot::RobotNodeSetPtr nodeSet=VirtualRobot::RobotNodeSetPtr(), bool checkForSelfCollisions=true) |
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| virtual void | binarize () |
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| virtual int | fillHoles (unsigned int minNeighbors=1) |
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| virtual void | print () |
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| Eigen::Matrix4f | sampleCoveredPose () |
| | returns a random pose that is covered by the workspace data More...
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| bool | isCovered (const Eigen::Matrix4f &globalPose) |
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| bool | isCovered (unsigned int v[6]) |
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| virtual int | getNumVoxels (int dim) const |
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| virtual float | getMinBound (int dim) const |
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| virtual float | getMaxBound (int dim) const |
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| virtual unsigned char | getVoxelEntry (unsigned int a, unsigned int b, unsigned int c, unsigned int d, unsigned int e, unsigned int f) const |
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| virtual int | sumAngleReachabilities (int x0, int x1, int x2) const |
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| virtual int | avgAngleReachabilities (int x0, int x1, int x2) const |
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| virtual int | getMaxEntry (int x0, int x1, int x2) const |
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| virtual int | getMaxEntry (const Eigen::Vector3f &position_global) const |
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| virtual bool | getVoxelFromPose (const Eigen::Matrix4f &globalPose, unsigned int v[6]) const |
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| virtual bool | getVoxelFromPosition (const Eigen::Matrix4f &globalPose, unsigned int v[3]) const |
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| Eigen::Matrix4f | getPoseFromVoxel (unsigned int v[6], bool transformToGlobalPose=true) |
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| Eigen::Matrix4f | getPoseFromVoxel (float v[6], bool transformToGlobalPose=true) |
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| virtual int | getMaxSummedAngleReachablity () |
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| virtual bool | hasEntry (unsigned int x, unsigned int y, unsigned int z) |
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| virtual bool | checkForParameters (RobotNodeSetPtr nodeSet, float steps, float storeMinBounds[6], float storeMaxBounds[6], RobotNodePtr baseNode=RobotNodePtr(), RobotNodePtr tcpNode=RobotNodePtr()) |
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| WorkspaceCut2DPtr | createCut (const Eigen::Matrix4f &referencePose, float cellSize, bool sumAngles) const |
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| WorkspaceCut2DPtr | createCut (float heightPercent, float cellSize, bool sumAngles) const |
| | createCut Create a cut at a specific height (assuming z is upwards). More...
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| std::vector< WorkspaceCut2DTransformationPtr > | createCutTransformations (WorkspaceCut2DPtr cutXY, RobotNodePtr referenceNode=RobotNodePtr(), float maxAngle=M_PIf32) |
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| bool | getWorkspaceExtends (Eigen::Vector3f &storeMinBBox, Eigen::Vector3f &storeMaxBBox) const |
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| MathTools::OOBB | getOOBB (bool achievedValues=false) const |
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| float | getDiscretizeParameterTranslation () |
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| float | getDiscretizeParameterRotation () |
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| RobotPtr | getRobot () |
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| SceneObjectSetPtr | getCollisionModelStatic () |
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| SceneObjectSetPtr | getCollisionModelDynamic () |
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| RobotNodePtr | getTcp () |
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| bool | getAdjustOnOverflow () |
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| virtual void | addCurrentTCPPose () |
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| void | addRandomTCPPoses (unsigned int loops, bool checkForSelfCollisions=true) |
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| virtual void | addRandomTCPPoses (unsigned int loops, unsigned int numThreads, bool checkForSelfCollisions=true) |
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| void | setVoxelEntry (unsigned int v[6], unsigned char e) |
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| void | setEntry (const Eigen::Matrix4f &poseGlobal, unsigned char e) |
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| void | setEntryCheckNeighbors (const Eigen::Matrix4f &poseGlobal, unsigned char e, unsigned int neighborVoxels) |
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| virtual void | toLocal (Eigen::Matrix4f &p) const |
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| virtual void | toGlobal (Eigen::Matrix4f &p) const |
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| void | toLocalVec (Eigen::Vector3f &positionGlobal) const |
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| void | toGlobalVec (Eigen::Vector3f &positionLocal) const |
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| void | matrix2Vector (const Eigen::Matrix4f &m, float x[6]) const |
| | Convert a 4x4 matrix to a pos + ori vector. More...
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| void | vector2Matrix (const float x[6], Eigen::Matrix4f &m) const |
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| void | vector2Matrix (const Eigen::Vector3f &pos, const Eigen::Vector3f &rot, Eigen::Matrix4f &m) const |
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| virtual bool | getVoxelFromPose (float x[6], unsigned int v[6]) const |
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| virtual bool | getVoxelFromPosition (float x[3], unsigned int v[3]) const |
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| void | setOrientationType (eOrientationType t) |
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| WorkspaceDataPtr | getData () |
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| bool | getPoseFromVoxel (unsigned int x[], float v[]) const |
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| virtual VolumeInfo | computeVolumeInformation () |
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This class represents an approximation of the reachability distribution of a kinematic chain (e.g. an arm). Consists of voxels covering the 6D space for position (XYZ) and orientation (Tait–Bryan angles, EulerXYZ, static frame). Each voxel holds a counter with the number of successful IK solver calls, representing the approximated probability that an IK solver call can be successfully answered. The discretized reachability data can be written to and loaded from binary files.
The reachability is linked to a base coordinate system which is defined by a robot joint. This base system is used to align the data when the robot is moving. I.E. think of an arm of a humanoid where the reachability is linked to the shoulder. When the torso moves, the reachability also changes it's position according to the position of the shoulder.
Public Member Functions inherited from VirtualRobot::WorkspaceRepresentation