#include <gpGrasp.h>

Public Member Functions
	gpGrasp ()
	Default constructor of the class gpGrasp.
	gpGrasp (const gpGrasp &grasp)
	gpGrasp (const gpHand_properties &handProp)
gpGrasp &	operator= (const gpGrasp &grasp)
	Copy operator of the class gpGrasp.
bool	operator== (const gpGrasp &grasp)
int	print ()
	Prints the content of a gpGrasp variable in the standard output.
int	printInFile (const char *filename)
int	draw (double cone_length, int cone_nb_slices=10)
int	computeStability ()
int	computeQuality ()
double	configCost ()
int	removeContactsTooCloseToEdge (double angleThreshold, double distancethreshold)
int	contactCentroid (p3d_vector3 centroid)
int	direction (p3d_vector3 direction) const
double	similarity (const gpGrasp &grasp)
int	computeOpenConfig (p3d_rob robot, p3d_rob object, bool environment)
Public Attributes
bool	autoGen
int	ID
double	stability
double	curvatureScore
	different scores that are used to compute the grasp quality:
double	centroidScore
double	IKscore
double	visibility
double	quality
p3d_matrix4	frame
std::vector< gpContact >	contacts
int	handID
p3d_rob *	object
std::string	object_name
double	finger_opening
enum gpHand_type	hand_type
std::vector< double >	config
std::vector< double >	openConfig
bool	tested
gpPlacement	recomPlacement
Friends
double	gpGraspDistance (const gpGrasp &grasp1, const gpGrasp &grasp2)

Detailed Description

This is the class used to describe all the characteristics of a grasp.

Member Function Documentation

int gpGrasp::computeOpenConfig	(	p3d_rob *	robot,
		p3d_rob *	object,
		bool	environment
	)

Computes the "open" configuration of a grasp. From the grasp configuration q, the hand is opened (in direction of the "qopen" configuration defined in gpHand_properties). If there is a contact the opening is stopped and the DOF is set to 0.5*(qstart+qopen).

Parameters:

robot	pointer to the robot hand (a freeflyer)
object	pointer to the object (a freeflyer robot)
environment	take into account the environment in the collision test or not

Returns:: GP_OK in case of success, GP_ERROR otherwise

int gpGrasp::computeQuality ( )

Computes the quality of the grasp. For now, the quality is a weighted sum of a "force closure quality criterion" and a score telling how close are the contact normals to the main grasping direction of the hand or gripper (i.e. the (or main) direction along which the hand can exert a force). This last point is still much too coarse. If the grasp does not verify force-closure, its global quality will be kept null.

Returns:: GP_OK in case of success, GP_ERROR otherwise

check if the object volume properties were already computed:

int gpGrasp::computeStability ( )

Computes the stability score of the grasp. If the grasp is unstable, the score is < 0.

Returns:: GP_OK in case of success, GP_ERROR otherwise

double gpGrasp::configCost ( )

Computes a cost for the given grasping configuration. The biggest it is, the better it is.

Returns:: the computed configuration cost

int gpGrasp::contactCentroid ( p3d_vector3 centroid )

Computes the centroid of the polyhedron defined by the contact points of the grasp.

Parameters:

centroid the computed centroid of the contact polyhedron

Returns:: GP_OK in case of success, GP_ERROR otherwise

int gpGrasp::direction ( p3d_vector3 direction ) const

Gives the direction of the wrist associated to the gpGrasp.

Parameters:

direction a p3d_vector3 that will be filled with the wrist direction

Returns:: GP_OK in case of success, GP_ERROR otherwise

int gpGrasp::draw	(	double	length,
		int	nb_slices = `10`
	)

Draws all the contacts of a grasp.

Parameters:

length	lenght of each friction cone to draw
nb_slices	number of segments of each cone discretization

Returns:: GP_OK in case of success, GP_ERROR otherwise

int gpGrasp::printInFile ( const char * filename )

Prints the content of a gpGrasp variable in a file.

Parameters:

filename name of the file

Returns:: GP_OK in case of success, GP_ERROR otherwise

int gpGrasp::removeContactsTooCloseToEdge	(	double	angleThreshold,
		double	distancethreshold
	)

Removes the contact that are too close to an sharp edge. For each contact of the grasp, the function considers the edges of the face the contact is on. If one of the edge is not too "flat", the distance from the contact to the edge is computed and if the distance is above a threshold, the contact is regarded as too close to the edge.

Parameters:

angleThreshold	the edge angle (in radians) above which an edge is regarded as not flat
distancethreshold	the distance threshold

Returns:: GP_OK in case of success, GP_ERROR otherwise

double gpGrasp::similarity ( const gpGrasp & grasp )

WIP Computes a value trying to give a measure of the similarity between two grasps.

Friends And Related Function Documentation

double gpGraspDistance	(	const gpGrasp &	grasp1,
		const gpGrasp &	grasp2
	)		`[friend]`

Computes the distance between two grasps. This is based on the distance between their two frames. For now, it is the euclidean distance between the two frame centers.

Parameters: