Grasp representation class. More...

#include <Grasp.hh>

Public Member Functions
	Grasp ()
	Deafult constructor. More...

	Grasp (ignition::math::Matrix4d t_gripper_object_)
	Constructor. More...

Static Public Member Functions
static void	loadFromYml (const std::string &file_name, const std::string &robot, const std::string &object_name, std::vector< Grasp > &grasps)
	Load set of grasps from file. More...

static void	writeToYml (const std::string &file_name, const std::string &robot, const std::string &object_name, const std::vector< Grasp > &grasps)
	Export set of grasps to file. More...

Public Attributes
std::string	name
	Grasp candidate name. More...

ignition::math::Matrix4d	t_gripper_object
	Homogenous transform matrix from gripper to object reference frame. More...

double	metric {false}
	Grasp success metric. More...

Detailed Description

Grasp representation class.

Constructor & Destructor Documentation

Grasp ( )

Deafult constructor.

Grasp ( ignition::math::Matrix4d t_gripper_object_ )

Constructor.

Parameters

t_gripper_object_ Transform matrix from gripper to object frame

static

Load set of grasps from file.

Parameters

file_name	Input file name
robot	Target robot name
object_name	Target object name
grasps	Set of grasps retrieved from file

static

Export set of grasps to file.

Parameters

file_name	Output file name
robot	Target robot name
object_name	Target object name
grasps	Set of grasps to export to file

double metric {false}

Grasp success metric.

std::string name

Grasp candidate name.

ignition::math::Matrix4d t_gripper_object

Homogenous transform matrix from gripper to object reference frame.

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