Data Structures
struct	Extends

struct	Size

Public Types
enum	CellUpdateMode { MIN, MAX }

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	WorkspaceGrid (float minX, float maxX, float minY, float maxY, float discretizeSize, bool checkNeighbors=false)

	~WorkspaceGrid ()

int	getEntry (float x, float y)
	returns entry of position in x/y plane (in world coords) More...

bool	getEntry (float x, float y, int &storeEntry, GraspPtr &storeGrasp)

bool	getEntry (float x, float y, int &nStoreEntry, std::vector< GraspPtr > &storeGrasps)

int	getCellEntry (int cellX, int cellY)
	returns entry of discretized square (x/y) More...

bool	getCellEntry (int cellX, int cellY, int &nStoreEntry, GraspPtr &storeGrasp)

bool	getCellEntry (int cellX, int cellY, int &nStoreEntry, std::vector< GraspPtr > &storeGrasps)

void	setEntry (float x, float y, int value, GraspPtr grasp)

void	setCellEntry (int cellX, int cellY, int value, GraspPtr pGrasp)

int	getMaxEntry ()

void	setEntryCheckNeighbors (float x, float y, int value, GraspPtr grasp)

bool	getRandomPos (int minEntry, float &storeXGlobal, float &storeYGlobal, GraspPtr &storeGrasp, int maxLoops=50, int *entries=NULL)
	tries to find a random position with a entry >= minEntry More...

bool	getRandomPos (int minEntry, float &storeXGlobal, float &storeYGlobal, std::vector< GraspPtr > &storeGrasps, int maxLoops=50, int *entries=NULL)

void	reset ()

bool	fillGridData (WorkspaceRepresentationPtr ws, ManipulationObjectPtr o, GraspPtr g, RobotNodePtr baseRobotNode, float baseOrientation=0, float maxAngle=M_PIf32)

bool	fillGridData (WorkspaceRepresentationPtr ws, const Eigen::Matrix4f &graspGlobal, GraspPtr g, RobotNodePtr baseRobotNode, float baseOrientation=0, float maxAngle=M_PIf32, float minCenterDistance=0)

void	setGridPosition (float x, float y)

void	getExtends (float &storeMinX, float &storeMaxX, float &storeMinY, float &storeMaxY)

Extends	getExtends () const

void	setCellUpdateMode (const CellUpdateMode mode)

void	getCells (int &storeCellsX, int &storeCellsY)

Size	getCells () const

Eigen::Vector2f	getPosition (int cellX, int cellY) const

float	getDiscretizeSize () const

Eigen::Vector2f	getMin () const

Eigen::Vector2f	getMax () const

Static Public Member Functions
static WorkspaceGridPtr	MergeWorkspaceGrids (const std::vector< WorkspaceGridPtr > &reachGrids)
	Creates the intersection between multiple grids into one grid by considering for each x,y position the worst values of all grids. More...

Protected Member Functions
void	setEntries (std::vector< WorkspaceRepresentation::WorkspaceCut2DTransformationPtr > &wsData, const Eigen::Matrix4f &graspGlobal, GraspPtr grasp)

void	checkAndReplaceValue (int &val, int newVal)

int	getDataPos (int x, int y)

Protected Attributes
float	minX

float	maxX

float	minY

float	maxY

float	discretizeSize

int	gridSizeX

int	gridSizeY

float	gridExtendX

float	gridExtendY

int *	data

std::vector< GraspPtr > *	graspLink

const bool	checkNeighbors

Detailed Description

A 2D grid which represents a quality distribution (e.g. the reachability) at 2D positions w.r.t. one or multiple grasp(s). Internally the inverse workspace data (

See also: WorkspaceRepresentation), which encodes the transformation between robot's base and grasping position, is used. This data is useful to quickly sample positions from where the probability that a grasp is reachable is high (see getRandomPos).

Member Enumeration Documentation

◆ CellUpdateMode

enum VirtualRobot::WorkspaceGrid::CellUpdateMode

Enumerator
MIN
MAX

Constructor & Destructor Documentation

◆ WorkspaceGrid()

VirtualRobot::WorkspaceGrid::WorkspaceGrid	(	float	minX,
		float	maxX,
		float	minY,
		float	maxY,
		float	discretizeSize,
		bool	checkNeighbors = `false`
	)

Setup the 2D grid with given extends and discretization parameter.

◆ ~WorkspaceGrid()

VirtualRobot::WorkspaceGrid::~WorkspaceGrid ( )

Member Function Documentation

◆ checkAndReplaceValue()

void VirtualRobot::WorkspaceGrid::checkAndReplaceValue	(	int &	val,
		int	newVal
	)

protected

◆ fillGridData() [1/2]

bool VirtualRobot::WorkspaceGrid::fillGridData	(	WorkspaceRepresentationPtr	ws,
		ManipulationObjectPtr	o,
		GraspPtr	g,
		RobotNodePtr	baseRobotNode,
		float	baseOrientation = `0`,
		float	maxAngle = `M_PIf32`
	)

Fill the grid with inverse reachability data generated from grasp g and object o.

◆ fillGridData() [2/2]

bool VirtualRobot::WorkspaceGrid::fillGridData	(	WorkspaceRepresentationPtr	ws,
		const Eigen::Matrix4f &	graspGlobal,
		GraspPtr	g,
		RobotNodePtr	baseRobotNode,
		float	baseOrientation = `0`,
		float	maxAngle = `M_PIf32`,
		float	minCenterDistance = `0`
	)

◆ getCellEntry() [1/3]

int VirtualRobot::WorkspaceGrid::getCellEntry	(	int	cellX,
		int	cellY
	)

returns entry of discretized square (x/y)

◆ getCellEntry() [2/3]

bool VirtualRobot::WorkspaceGrid::getCellEntry	(	int	cellX,
		int	cellY,
		int &	nStoreEntry,
		GraspPtr &	storeGrasp
	)

◆ getCellEntry() [3/3]

bool VirtualRobot::WorkspaceGrid::getCellEntry	(	int	cellX,
		int	cellY,
		int &	nStoreEntry,
		std::vector< GraspPtr > &	storeGrasps
	)

◆ getCells() [1/2]

void VirtualRobot::WorkspaceGrid::getCells	(	int &	storeCellsX,
		int &	storeCellsY
	)

Number of cells in x and y

◆ getCells() [2/2]

Size VirtualRobot::WorkspaceGrid::getCells ( ) const

inline

◆ getDataPos()

int VirtualRobot::WorkspaceGrid::getDataPos	(	int	x,
		int	y
	)

inlineprotected

◆ getDiscretizeSize()

float VirtualRobot::WorkspaceGrid::getDiscretizeSize ( ) const

◆ getEntry() [1/3]

int VirtualRobot::WorkspaceGrid::getEntry	(	float	x,
		float	y
	)

returns entry of position in x/y plane (in world coords)

◆ getEntry() [2/3]

bool VirtualRobot::WorkspaceGrid::getEntry	(	float	x,
		float	y,
		int &	storeEntry,
		GraspPtr &	storeGrasp
	)

Gets the corresponding entry of a world / global 2d position.

Parameters

x	The x coordinate (in global coordinate system)
y	The y coordinate (in global coordinate system)
storeEntry	The corresponding entry is stored.
storeGrasp	A random grasp of corresponding cell is stored.

Returns: True if x/y is inside this grid and an entry>0 was found, false otherwise.

◆ getEntry() [3/3]

bool VirtualRobot::WorkspaceGrid::getEntry	(	float	x,
		float	y,
		int &	nStoreEntry,
		std::vector< GraspPtr > &	storeGrasps
	)

◆ getExtends() [1/2]

void VirtualRobot::WorkspaceGrid::getExtends	(	float &	storeMinX,
		float &	storeMaxX,
		float &	storeMinY,
		float &	storeMaxY
	)

Get extends in global coord system.

◆ getExtends() [2/2]

Extends VirtualRobot::WorkspaceGrid::getExtends ( ) const

inline

◆ getMax()

Eigen::Vector2f VirtualRobot::WorkspaceGrid::getMax ( ) const

◆ getMaxEntry()

int VirtualRobot::WorkspaceGrid::getMaxEntry ( )

◆ getMin()

Eigen::Vector2f VirtualRobot::WorkspaceGrid::getMin ( ) const

◆ getPosition()

Eigen::Vector2f VirtualRobot::WorkspaceGrid::getPosition	(	int	cellX,
		int	cellY
	)		const

◆ getRandomPos() [1/2]

bool VirtualRobot::WorkspaceGrid::getRandomPos	(	int	minEntry,
		float &	storeXGlobal,
		float &	storeYGlobal,
		GraspPtr &	storeGrasp,
		int	maxLoops = `50`,
		int *	entries = `NULL`
	)

tries to find a random position with a entry >= minEntry

◆ getRandomPos() [2/2]

bool VirtualRobot::WorkspaceGrid::getRandomPos	(	int	minEntry,
		float &	storeXGlobal,
		float &	storeYGlobal,
		std::vector< GraspPtr > &	storeGrasps,
		int	maxLoops = `50`,
		int *	entries = `NULL`
	)

◆ MergeWorkspaceGrids()

WorkspaceGridPtr VirtualRobot::WorkspaceGrid::MergeWorkspaceGrids ( const std::vector< WorkspaceGridPtr > & reachGrids )

static

Creates the intersection between multiple grids into one grid by considering for each x,y position the worst values of all grids.

Parameters

reachGrids grids for different grasp poses or object poses

Returns: new, merged grid

◆ reset()

void VirtualRobot::WorkspaceGrid::reset ( )

Clear all entries.

◆ setCellEntry()

void VirtualRobot::WorkspaceGrid::setCellEntry	(	int	cellX,
		int	cellY,
		int	value,
		GraspPtr	pGrasp
	)

◆ setCellUpdateMode()

void VirtualRobot::WorkspaceGrid::setCellUpdateMode ( const CellUpdateMode mode )

inline

◆ setEntries()

void VirtualRobot::WorkspaceGrid::setEntries	(	std::vector< WorkspaceRepresentation::WorkspaceCut2DTransformationPtr > &	wsData,
		const Eigen::Matrix4f &	graspGlobal,
		GraspPtr	grasp
	)

protected

Adds data stored in reachability transformations. This data defines transformations from robot base system to grasping pose, so when defining a grasping pose, the inverse reachability can be represented by this grid Therefor the "world coordinates" of the inverse reachability distributions are computed by T_grasp * ReachTransformation^-1

◆ setEntry()

void VirtualRobot::WorkspaceGrid::setEntry	(	float	x,
		float	y,
		int	value,
		GraspPtr	grasp
	)

sets the entry to value, if the current value is lower

◆ setEntryCheckNeighbors()

void VirtualRobot::WorkspaceGrid::setEntryCheckNeighbors	(	float	x,
		float	y,
		int	value,
		GraspPtr	grasp
	)

This method sets the grid value to nValue and checks if the neighbors have a lower value and in case the value of the neighbors is set to nValue.

◆ setGridPosition()

void VirtualRobot::WorkspaceGrid::setGridPosition	(	float	x,
		float	y
	)

Move the grid to (x,y), given in global coordinate system. Sets the new center.

Field Documentation

◆ checkNeighbors

const bool VirtualRobot::WorkspaceGrid::checkNeighbors

protected

◆ data

int* VirtualRobot::WorkspaceGrid::data

protected

◆ discretizeSize

float VirtualRobot::WorkspaceGrid::discretizeSize

protected

◆ graspLink

std::vector<GraspPtr>* VirtualRobot::WorkspaceGrid::graspLink

protected

◆ gridExtendX

float VirtualRobot::WorkspaceGrid::gridExtendX

protected

◆ gridExtendY

float VirtualRobot::WorkspaceGrid::gridExtendY

protected

◆ gridSizeX

int VirtualRobot::WorkspaceGrid::gridSizeX

protected

◆ gridSizeY

int VirtualRobot::WorkspaceGrid::gridSizeY

protected

◆ maxX

float VirtualRobot::WorkspaceGrid::maxX

protected

◆ maxY

float VirtualRobot::WorkspaceGrid::maxY

protected

◆ minX

float VirtualRobot::WorkspaceGrid::minX

protected

◆ minY

float VirtualRobot::WorkspaceGrid::minY

protected

Data Structures

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ CellUpdateMode

Constructor & Destructor Documentation

◆ WorkspaceGrid()

◆ ~WorkspaceGrid()

Member Function Documentation

◆ checkAndReplaceValue()

◆ fillGridData() [1/2]

◆ fillGridData() [2/2]

◆ getCellEntry() [1/3]

◆ getCellEntry() [2/3]

◆ getCellEntry() [3/3]

◆ getCells() [1/2]

◆ getCells() [2/2]

◆ getDataPos()

◆ getDiscretizeSize()

◆ getEntry() [1/3]

◆ getEntry() [2/3]

◆ getEntry() [3/3]

◆ getExtends() [1/2]

◆ getExtends() [2/2]

◆ getMax()

◆ getMaxEntry()

◆ getMin()

◆ getPosition()

◆ getRandomPos() [1/2]

◆ getRandomPos() [2/2]

◆ MergeWorkspaceGrids()

◆ reset()

◆ setCellEntry()

◆ setCellUpdateMode()

◆ setEntries()

◆ setEntry()

◆ setEntryCheckNeighbors()

◆ setGridPosition()

Field Documentation

◆ checkNeighbors

◆ data

◆ discretizeSize

◆ graspLink

◆ gridExtendX

◆ gridExtendY

◆ gridSizeX

◆ gridSizeY

◆ maxX

◆ maxY

◆ minX

◆ minY