Package org.robwork.sdurw_graspplanning

Class DiceContactG3D

java.lang.Object

org.robwork.sdurw_graspplanning.DiceContactG3D

public class DiceContactG3D
extends java.lang.Object

generates candidate contact point sets (contact grasps) for
grasping a given object. The nr of contacts per grasp is given by the user
and a set of possibly good contact grasps are generated.

The method used is that which is used in the article
"Grasping the Dice by Dicing the Grasp" by Ch. Borst, M. Fisher and
G. Hirzinger

It works by randomly selecting surface contact grasps that are filtered using a
fast but conservative force closure filter.
As such grasps produced is not strictly force closure. Which means
that another filter must also be applied before using the actual grasp.

Note: (TODO) the sampling of contacts on the surface is not uniform on the surface area
but instead in the number of triangles. To enable good sampling the triangles of the
geometry should not vary too much in size.

Constructor Summary

Constructors

Constructor	Description
DiceContactG3D()
DiceContactG3D(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
SWIGTYPE_p_std__vectorT_rw__graspplanning__Grasp3D_t	generateContactSet(int maxNrOfContacts, double timeout)	generates a contact set from some heuristic
Grasp3D	generateNext()	generates one contact and returns it
ContactValidateFilter	getContactFilter()
static long	getCPtr(DiceContactG3D obj)
void	initialize(TriMesh obj, int nrOfContacts, double mu)	initializes the contact generator on some object.
void	setContactFilter(ContactValidateFilter filter)
void	setTransform(Transform3D t3d)

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

DiceContactG3D

public DiceContactG3D(long cPtr,
                      boolean cMemoryOwn)

DiceContactG3D

public DiceContactG3D()

Method Detail

getCPtr

public static long getCPtr(DiceContactG3D obj)

delete

public void delete()

setContactFilter

public void setContactFilter(ContactValidateFilter filter)

getContactFilter

public ContactValidateFilter getContactFilter()

initialize

public void initialize(TriMesh obj,
                       int nrOfContacts,
                       double mu)

initializes the contact generator on some object.

Parameters:

obj - [in] the object as a indexed triangle mesh

nrOfContacts - [in] the nr of contacts that are allowed in a grasp

mu - documentation missing !

generateContactSet

public SWIGTYPE_p_std__vectorT_rw__graspplanning__Grasp3D_t generateContactSet(int maxNrOfContacts,
                                                                               double timeout)

generates a contact set from some heuristic

generateNext

public Grasp3D generateNext()

generates one contact and returns it

Returns:

setTransform

public void setTransform(Transform3D t3d)