Flat Object Grasping Library (FOG)  0.2.1
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Class List
Here are the classes, structs, unions and interfaces with brief descriptions:
[detail level 12]
oNfogThe namespace having all the FOG codebase
|oCFingerComplianceImplements a controller for active compliance of the hand's fingers
|oCReachFGSAlphaA class that implements the controller for reaching the FGS state for the strategy- $\alpha$. It closes the fingers
|oCReachFGSBetaA class that implements the controller for reaching the FGS state for the strategy- $\beta$. It closes the fingers and moves the arm
|oCReachPGSBetaA class that implements the controller for reaching the PGS state. It reads feedback from the position of the fingeres and commands the task velocity of the arm
|oCUpdateBHand
|oCDecisionMakerDecides which of the available grasp strategies can be used for grasping the target object, given the current scene
|oCEnablingConditionsThe enabling conditions for the Decision Making
|oCEnabledStrategiesThe enabled strategies from the Decision Making
|oCFlatObjectGrasperThe main class of FOG which implements the pipeline for grasping a flat object
|oCHandRepresents the robotic hand as it is considered in the FOG framework
|oCIGSPlannerPlans Initial Grasping States (IGSs) for each selected grasp strategy
|oCInitialGraspStateRepresenting and Initial Grasp State
|oCInterfaceAbstract class which defines the interfaces with FOG
|oCModelsThe FOG Models
|oCObjectRepresents the target object as it is considered in the FOG framework
|oCObjectSurfaceCombinationRepresents the object-surface combination as it is considered in the FOG framework, i.e. the set of non-convex directions $\mathcal{N}_f$
|oCHandParams
|oCObjectSurfaceCombinationParamsParameters related to the FOG object-surface combination
|oCControllersParams
|oCRobotParamsParameters related to the robot configuration that is used. If it is real or a simulated hardware
|oCBetaParamsParameters related to strategy- $\beta$
|oCGammaParamsParameters related to strategy- $\gamma$
|oCParamsThe FOG parameters
|oCSurfaceRepresents the support surface as it is considered in the FOG framework, as rectangle with 4 limits
|\CRVisualizerVisualizes in RViz FOG models. In order to see the models, add in your RViz configuration a PointCloud2 panel with the point cloud topic name and a MarkerArray with the rviz_topic that you initialize the class
\CControllerParamsParameters related to the FOG controllers