GraspTable Class Reference

A table of grasp configurations that has been generated using a robot hand, a number of preshapes, and some grasp policy. More...

#include <GraspTable.hpp>

Classes
struct	GraspData
	data for describing a single grasp More...

Public Types
typedef rw::core::Ptr< GraspTable >	Ptr

Public Member Functions
	GraspTable (const std::string &handName, const std::string &objectId)
	constructor More...
virtual	~GraspTable ()
	destructor
int	getCalibForceIndex ()
	gets the index of the calibration force if its used. The calibration force is stored in the 'quality' list in the GraspData objects. More...
void	setCalibForceIndex (int idx)
	set the index of the calibration force More...
void	addGrasp (GraspData &data)
	add a grasp to this GraspTable More...
size_t	size ()
	get the nr of grasps in this GraspTable More...
std::vector< GraspData > &	getData ()
	get all grasp data More...
const std::string &	getHandName ()
	get name of hand More...
const std::string &	getObjectName ()
	get name of object More...
int	nrTactileArrayGrasp ()
	get the number of tactile arrays on this hand More...
std::pair< int, int >	getTactileArrayDim (int i)
	get the dimensions of the i'th tactile array More...
bool	hasCalibForce ()
	check if this table has calib force data More...
void	save (const std::string &filename)
	save this grasp table to file filename More...

Static Public Member Functions
static rw::core::Ptr< GraspTable >	load (const std::string &filename)
	load a grasp table from file More...

Static Public Attributes
static const unsigned int	GTABLE_VERSION = 0x00001
	this version increase each time the file format is changed

Detailed Description

A table of grasp configurations that has been generated using a robot hand, a number of preshapes, and some grasp policy.

Constructor & Destructor Documentation

GraspTable()

GraspTable	(	const std::string &	handName,
		const std::string &	objectId
	)

constructor

Parameters

handName	[in] name of robot hand
objectId	[in] name of object that is being grasped

Member Function Documentation

addGrasp()

void addGrasp

(

GraspData &

data

)

add a grasp to this GraspTable

Parameters

data	[in] Grasp data

getCalibForceIndex()

int getCalibForceIndex

(

)

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()

std::vector<GraspData>& getData ( )

inline

get all grasp data

Returns

vector of grasps

getHandName()

const std::string& getHandName ( )

inline

get name of hand

Returns

name of hand

getObjectName()

const std::string& getObjectName ( )

inline

get name of object

Returns

name of object

getTactileArrayDim()

std::pair<int, int> getTactileArrayDim

(

int

i

)

get the dimensions of the i'th tactile array

Parameters

i	[in] the tactile array id

Returns

hasCalibForce()

bool 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()

static rw::core::Ptr<GraspTable> load ( const std::string &  filename )

static

load a grasp table from file

Parameters

filename

[in] name of file

Returns

GraspTable

nrTactileArrayGrasp()

int nrTactileArrayGrasp

(

)

get the number of tactile arrays on this hand

Returns

save()

void save

(

const std::string &

filename

)

save this grasp table to file filename

Parameters

filename

[in] name of file

setCalibForceIndex()

void setCalibForceIndex ( int  idx )

inline

set the index of the calibration force

Parameters

idx	[in] calibration force index

size()

size_t size ( )

inline

get the nr of grasps in this GraspTable

Returns

nr of grasps in this GraspTable

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

• GraspTable.hpp