#include <RobotAPI/libraries/GraspingUtility/box_to_grasp_candidates.h>

Classes
struct	grasp

struct	length_limit

struct	side_data

struct	side_enabled_map

Public Types
enum	box_alignment : std::uint_fast8_t { pos_x_pos_y, pos_x_pos_z, pos_x_neg_y, pos_x_neg_z, neg_x_pos_y, neg_x_pos_z, neg_x_neg_y, neg_x_neg_z, pos_y_pos_x, pos_y_pos_z, pos_y_neg_x, pos_y_neg_z, neg_y_pos_x, neg_y_pos_z, neg_y_neg_x, neg_y_neg_z, pos_z_pos_x, pos_z_pos_y, pos_z_neg_x, pos_z_neg_y, neg_z_pos_x, neg_z_pos_y, neg_z_neg_x, neg_z_neg_y }

using	box_t = simox::OrientedBox< float >

Public Member Functions
void	add_armar6_defaults ()

	box_to_grasp_candidates (armarx::RobotNameHelperPtr rnh, const VirtualRobot::RobotPtr &robot)

grasp	center_grasp (const box_t &box, const side_data &side, box_alignment align)

void	center_grasps (const box_t &box, const side_data &side, const length_limit &limit, auto consume_grasp)

void	center_grasps (const box_t &box, const side_data &side, const length_limit &limit, auto consume_grasp, const side_enabled_map &enabled)

void	center_grasps (const box_t &box, const std::string &side, const length_limit &limit, auto consume_grasp)

void	center_grasps (const box_t &box, const std::string &side, const length_limit &limit, auto consume_grasp, const side_enabled_map &enabled)

side_data &	side (const std::string &side)

const side_data &	side (const std::string &side) const

const std::map< std::string, side_data > &	sides () const

Static Public Member Functions
static float	box_forward_len (const box_t &box, box_alignment align)

static Eigen::Vector3f	box_transverse_axis (const box_t &box, box_alignment align)

static float	box_transverse_len (const box_t &box, box_alignment align)

static Eigen::Vector3f	box_up_axis (const box_t &box, box_alignment align)

static float	box_up_len (const box_t &box, box_alignment align)

template<class D1 , class D2 , class D3 >
static std::enable_if_t< simox::meta::is_vec3_v< D1 > &&simox::meta::is_vec3_v< D2 > &&simox::meta::is_vec3_v< D3 >, grasp >	center_grasp (const Eigen::MatrixBase< D1 > &center_pos, const Eigen::MatrixBase< D2 > &up, float up_len, const Eigen::Vector3f &hand_up, const Eigen::MatrixBase< D3 > &transverse, const Eigen::Vector3f &hand_transv, const Eigen::Vector3f &tcp_shift)

Detailed Description

Definition at line 14 of file box_to_grasp_candidates.h.

Member Typedef Documentation

◆ box_t

using box_t = simox::OrientedBox<float>

Definition at line 16 of file box_to_grasp_candidates.h.

Member Enumeration Documentation

◆ box_alignment

enum box_alignment : std::uint_fast8_t

strong

Enumerator
pos_x_pos_y
pos_x_pos_z
pos_x_neg_y
pos_x_neg_z
neg_x_pos_y
neg_x_pos_z
neg_x_neg_y
neg_x_neg_z
pos_y_pos_x
pos_y_pos_z
pos_y_neg_x
pos_y_neg_z
neg_y_pos_x
neg_y_pos_z
neg_y_neg_x
neg_y_neg_z
pos_z_pos_x
pos_z_pos_y
pos_z_neg_x
pos_z_neg_y
neg_z_pos_x
neg_z_pos_y
neg_z_neg_x
neg_z_neg_y

Definition at line 17 of file box_to_grasp_candidates.h.

Constructor & Destructor Documentation

◆ box_to_grasp_candidates()

box_to_grasp_candidates	(	armarx::RobotNameHelperPtr	rnh,
		const VirtualRobot::RobotPtr &	robot
	)

Definition at line 305 of file box_to_grasp_candidates.cpp.

Member Function Documentation

◆ add_armar6_defaults()

void add_armar6_defaults ( )

Definition at line 11 of file box_to_grasp_candidates.cpp.

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◆ box_forward_len()

float box_forward_len	(	const box_t &	box,
		box_alignment	align
	)

static

Definition at line 189 of file box_to_grasp_candidates.cpp.

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◆ box_transverse_axis()

Eigen::Vector3f box_transverse_axis	(	const box_t &	box,
		box_alignment	align
	)

static

Definition at line 25 of file box_to_grasp_candidates.cpp.

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◆ box_transverse_len()

float box_transverse_len	(	const box_t &	box,
		box_alignment	align
	)

static

Definition at line 66 of file box_to_grasp_candidates.cpp.

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◆ box_up_axis()

Eigen::Vector3f box_up_axis	(	const box_t &	box,
		box_alignment	align
	)

static

Definition at line 107 of file box_to_grasp_candidates.cpp.

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◆ box_up_len()

float box_up_len	(	const box_t &	box,
		box_alignment	align
	)

static

Definition at line 148 of file box_to_grasp_candidates.cpp.

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◆ center_grasp() [1/2]

box_to_grasp_candidates::grasp center_grasp	(	const box_t &	box,
		const side_data &	side,
		box_alignment	align
	)

Definition at line 336 of file box_to_grasp_candidates.cpp.

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◆ center_grasp() [2/2]

std::enable_if_t< simox::meta::is_vec3_v< D1 > &&simox::meta::is_vec3_v< D2 > &&simox::meta::is_vec3_v< D3 >, box_to_grasp_candidates::grasp > center_grasp	(	const Eigen::MatrixBase< D1 > &	center_pos,
		const Eigen::MatrixBase< D2 > &	up,
		float	up_len,
		const Eigen::Vector3f &	hand_up,
		const Eigen::MatrixBase< D3 > &	transverse,
		const Eigen::Vector3f &	hand_transv,
		const Eigen::Vector3f &	tcp_shift
	)

inlinestatic

Definition at line 58 of file box_to_grasp_candidates.ipp.

◆ center_grasps() [1/4]

void center_grasps	(	const box_t &	box,
		const side_data &	side,
		const length_limit &	limit,
		auto	consume_grasp
	)

inline

Definition at line 96 of file box_to_grasp_candidates.ipp.

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◆ center_grasps() [2/4]

void center_grasps	(	const box_t &	box,
		const side_data &	side,
		const length_limit &	limit,
		auto	consume_grasp,
		const side_enabled_map &	enabled
	)

inline

Definition at line 118 of file box_to_grasp_candidates.ipp.

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◆ center_grasps() [3/4]

void center_grasps	(	const box_t &	box,
		const std::string &	side,
		const length_limit &	limit,
		auto	consume_grasp
	)

inline

Definition at line 145 of file box_to_grasp_candidates.ipp.

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◆ center_grasps() [4/4]

void center_grasps	(	const box_t &	box,
		const std::string &	side,
		const length_limit &	limit,
		auto	consume_grasp,
		const side_enabled_map &	enabled
	)

inline

Definition at line 154 of file box_to_grasp_candidates.ipp.

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◆ side() [1/2]

box_to_grasp_candidates::side_data & side ( const std::string & side )

Definition at line 316 of file box_to_grasp_candidates.cpp.

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◆ side() [2/2]

const box_to_grasp_candidates::side_data & side ( const std::string & side ) const

Definition at line 311 of file box_to_grasp_candidates.cpp.

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◆ sides()

const std::map< std::string, box_to_grasp_candidates::side_data > & sides ( ) const

Definition at line 331 of file box_to_grasp_candidates.cpp.

The documentation for this struct was generated from the following files:

RobotAPI/libraries/GraspingUtility/box_to_grasp_candidates.h
RobotAPI/libraries/GraspingUtility/box_to_grasp_candidates.cpp
RobotAPI/libraries/GraspingUtility/box_to_grasp_candidates.ipp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Typedef Documentation

◆ box_t

Member Enumeration Documentation

◆ box_alignment

Constructor & Destructor Documentation

◆ box_to_grasp_candidates()

Member Function Documentation

◆ add_armar6_defaults()

◆ box_forward_len()

◆ box_transverse_axis()

◆ box_transverse_len()

◆ box_up_axis()

◆ box_up_len()

◆ center_grasp() [1/2]

◆ center_grasp() [2/2]

◆ center_grasps() [1/4]

◆ center_grasps() [2/4]

◆ center_grasps() [3/4]

◆ center_grasps() [4/4]

◆ side() [1/2]

◆ side() [2/2]

◆ sides()