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libmove3d
3.13.0
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libmove3d
3.13.0
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#include <gpPlacement.h>
Public Member Functions | |
| gpPlacement () | |
| Default constructor of the class gpPlacement. | |
| gpPlacement (const gpPlacement &placement) | |
| gpPlacement & | operator= (const gpPlacement &placement) |
| Copy operator of the class gpPlacement. | |
| bool | operator< (const gpPlacement &placement) |
| Placement comparison operator. | |
| int | computePoseMatrix (p3d_matrix4 pose) |
| This function computes the pose matrix to give to the object to place it. | |
| int | print () |
| int | draw (double length) |
Public Attributes | |
| int | ID |
| p3d_plane | plane |
| p3d_vector3 | center |
| double | stability |
| double | clearance |
| p3d_matrix4 | T |
| object-centered transformation of the placement: the transformation to apply to the object (wrt its default configuration) to place its suppport plane horizontally. It will be placed so that the placement center is at position (0,0,0) and the support plane normal is equal to -Z-axis | |
| p3d_vector3 | position |
| position of the placement | |
| double | theta |
| rotation angle around the support plane normal | |
| p3d_polyhedre * | polyhedron |
| p3d_rob * | object |
| std::string | object_name |
| std::vector< gpContact > | contacts |
Class containing information about a stable placement of an object (plane of the placement, stability criterion, contact points on the plane). A placement contains a "absolute" transform matrix that is completely object-centered. It is computed once for all. The transform of a placement is the transformation that must be applied to the object (from its default configuration) to place it on the horizontal plane with the face contacting the plane centered on (0,0,0). A placement also contains information about where is placed the object i.e. a position and a angle around the vertical axis.
| int gpPlacement::computePoseMatrix | ( | p3d_matrix4 | pose | ) |
This function computes the pose matrix to give to the object to place it.
computes the pose to give to the object
| int gpPlacement::draw | ( | double | length | ) |
Draws the placement (object and contacts points);
| length | length of the friction cones of the placement contacts |
| int gpPlacement::print | ( | ) |
Prints some info about the placement;
| p3d_vector3 gpPlacement::center |
center of the orthogonal projection of the object's center of mass onto the placement plane
| double gpPlacement::clearance |
clearance score of the placement (this value is supposed to have been normalized)
| int gpPlacement::ID |
ID number
the object (a freeflyer robot)
| std::string gpPlacement::object_name |
name of the object
| p3d_plane gpPlacement::plane |
plane of the contact points of the placement (its normal points toward the object interior)
| p3d_polyhedre* gpPlacement::polyhedron |
surface of the grasped object (must be consistent with the field "surface" of the contacts)
| double gpPlacement::stability |
stability score of the placement (this value is supposed to have been normalized)
1.7.5.1
