NaturalGraspFilter.h
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1 /*
2 * This file is part of ArmarX.
3 *
4 * ArmarX is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License version 2 as
6 * published by the Free Software Foundation.
7 *
8 * ArmarX is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
11 * GNU General Public License for more details.
12 *
13 * You should have received a copy of the GNU General Public License
14 * along with this program. If not, see <http://www.gnu.org/licenses/>.
15 *
16 * @package RobotComponents
17 * @author Christoph Pohl ( christoph.pohl at kit dot edu)
18 * @date 2016
19 * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
20 * GNU General Public License
21 */
22 
23 #pragma once
24 
28 
29 namespace armarx
30 {
33  {
34  public:
37  {
38  // defineOptionalProperty<std::string>("CommonPlacesLearnerName", "CommonPlacesLearnerGraspSelectionCriterion", "The CommonPlacesLearner to use");
39  }
40  };
41 
43  {
44  public:
46 
47  // ManagedIceObject interface
48  protected:
49  void onInitGraspSelectionCriterion() override;
50  void onConnectGraspSelectionCriterion() override;
51  std::string getDefaultName() const override;
52 
54  {
58  }
59 
60  public:
61  GeneratedGraspList filterGrasps(const GeneratedGraspList& grasps, const Ice::Current&) override;
62 
63  /*****
64  * @brief Filters Grasps that are unnatural from the human point of view
65  *
66  * Checks if the X-Axis of the Grasp (points out of the back of the Hand for the Right Hand and into the
67  * direction for the Left Hand) is in the Unit-3Sphere in Robot Coordinates with the left half excluded
68  * (x < -0.1) and a circle cut out towards the robot; Based on heuristics for naturalness of a grasp.
69  **/
70  GraspingPlacementList filterPlacements(const GraspingPlacementList& placements, const Ice::Current&) override;
71 
72  Ice::Int getHash(const Ice::Current&) const override;
73  private:
74  RobotStateComponentInterfacePrx rsc;
75  VirtualRobot::RobotPtr localRobot;
76  bool vectorIsWithinCircleSegment(const Eigen::Vector2f vector, double angle1, double angle2);
77  };
78 
79 } // namespace spoac
80 
armarx::NaturalGraspFilter::getDefaultName
std::string getDefaultName() const override
Retrieve default name of component.
Definition: NaturalGraspFilter.cpp:54
armarx::NaturalGraspFilter::filterPlacements
GraspingPlacementList filterPlacements(const GraspingPlacementList &placements, const Ice::Current &) override
Definition: NaturalGraspFilter.cpp:78
armarx::NaturalGraspFilter::NaturalGraspFilter
NaturalGraspFilter()
Definition: NaturalGraspFilter.cpp:35
armarx::PropertyDefinitionContainer::prefix
std::string prefix
Prefix of the properties such as namespace, domain, component name, etc.
Definition: PropertyDefinitionContainer.h:333
armarx::NaturalGraspFilter
Definition: NaturalGraspFilter.h:42
armarx::GraspSelectionCriterionBase
Definition: GraspSelectionCriterionBase.h:43
GraspSelectionCriterionBase.h
armarx::NaturalGraspFilter::getHash
Ice::Int getHash(const Ice::Current &) const override
Definition: NaturalGraspFilter.cpp:119
armarx::NaturalGraspFilterPropertyDefinitions
Definition: NaturalGraspFilter.h:31
CommonPlacesLearner.h
Component.h
armarx::NaturalGraspFilter::filterGrasps
GeneratedGraspList filterGrasps(const GeneratedGraspList &grasps, const Ice::Current &) override
Definition: NaturalGraspFilter.cpp:59
armarx::Component::getConfigIdentifier
std::string getConfigIdentifier()
Retrieve config identifier for this component as set in constructor.
Definition: Component.cpp:70
armarx::NaturalGraspFilter::createPropertyDefinitions
armarx::PropertyDefinitionsPtr createPropertyDefinitions() override
Definition: NaturalGraspFilter.h:53
IceUtil::Handle< class PropertyDefinitionContainer >
armarx::VariantType::Int
const VariantTypeId Int
Definition: Variant.h:916
armarx::NaturalGraspFilter::onConnectGraspSelectionCriterion
void onConnectGraspSelectionCriterion() override
Definition: NaturalGraspFilter.cpp:45
armarx::NaturalGraspFilter::onInitGraspSelectionCriterion
void onInitGraspSelectionCriterion() override
Definition: NaturalGraspFilter.cpp:39
armarx::PropertyDefinitionsPtr
IceUtil::Handle< class PropertyDefinitionContainer > PropertyDefinitionsPtr
PropertyDefinitions smart pointer type.
Definition: forward_declarations.h:34
armarx::NaturalGraspFilterPropertyDefinitions::NaturalGraspFilterPropertyDefinitions
NaturalGraspFilterPropertyDefinitions(std::string prefix)
Definition: NaturalGraspFilter.h:35
armarx
This file offers overloads of toIce() and fromIce() functions for STL container types.
Definition: ArmarXTimeserver.cpp:28
armarx::GraspSelectionCriterionPropertyDefinitions
Definition: GraspSelectionCriterionBase.h:32