A table of grasp configurations that has been generated using a robot hand, a number of preshapes, and some grasp policy.
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#include <GraspTable.hpp>
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static const unsigned int | GTABLE_VERSION = 0x00001 |
| this version increase each time the file format is changed
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A table of grasp configurations that has been generated using a robot hand, a number of preshapes, and some grasp policy.
◆ GraspTable()
GraspTable |
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const std::string & |
handName, |
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const std::string & |
objectId |
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) |
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constructor
- Parameters
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handName | [in] name of robot hand |
objectId | [in] name of object that is being grasped |
◆ addGrasp()
◆ getCalibForceIndex()
int getCalibForceIndex |
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gets the index of the calibration force if its used. The calibration force is stored in the 'quality' list in the GraspData objects.
- Returns
- index of calibration force if used, -1 otherwise
◆ getData()
get all grasp data
- Returns
- vector of grasps
◆ getHandName()
const std::string& getHandName |
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inline |
get name of hand
- Returns
- name of hand
◆ getObjectName()
const std::string& getObjectName |
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inline |
get name of object
- Returns
- name of object
◆ getTactileArrayDim()
std::pair<int, int> getTactileArrayDim |
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int |
i | ) |
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get the dimensions of the i'th tactile array
- Parameters
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i | [in] the tactile array id |
- Returns
◆ hasCalibForce()
check if this table has calib force data
- Returns
- true if this table has calib force data (equal to getCalibForceIndex()>=0), false otherwise
◆ load()
load a grasp table from file
- Parameters
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filename | [in] name of file |
- Returns
- GraspTable
◆ nrTactileArrayGrasp()
int nrTactileArrayGrasp |
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get the number of tactile arrays on this hand
- Returns
◆ save()
void save |
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const std::string & |
filename | ) |
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save this grasp table to file filename
- Parameters
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filename | [in] name of file |
◆ setCalibForceIndex()
void setCalibForceIndex |
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int |
idx | ) |
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inline |
set the index of the calibration force
- Parameters
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idx | [in] calibration force index |
◆ size()
The documentation for this class was generated from the following file: