fog::InitialGraspState Class Reference

Representing and Initial Grasp State. More...

#include <fog/models.h>

Public Member Functions
	InitialGraspState ()
	~InitialGraspState ()
void	transform (FrameLabel reference, const Pose &transform)
	Transforms the IGS to the new reference frame. More...

Public Attributes
Pose	pose
	The pose of the IGS w.r.t. the world frame. More...
FrameLabel	pose_label
	The label of the frame of the IGS's pose. More...
Eigen::VectorXd	finger_joint_positions
	The joint configuration of the fingers. More...
float	weight
	The weight of the IGS. More...
Strategy	strategy
arl::primitive::JointTrajectory	joint_trajectory_solution
	The joint trajectory that if executed the robot will reach this IGS. More...

Detailed Description

Representing and Initial Grasp State.

Constructor & Destructor Documentation

fog::InitialGraspState::InitialGraspState

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fog::InitialGraspState::~InitialGraspState

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Member Function Documentation

void fog::InitialGraspState::transform	(	FrameLabel	reference,
		const Pose &	transform
	)

Transforms the IGS to the new reference frame.

Expresses the IGS wrt the given reference frame and the transformation.

Parameters

reference	The label of the new referece frame
transform	The transformation between the current pose label of the IGS and the new.

Member Data Documentation

Eigen::VectorXd fog::InitialGraspState::finger_joint_positions

The joint configuration of the fingers.

arl::primitive::JointTrajectory fog::InitialGraspState::joint_trajectory_solution

The joint trajectory that if executed the robot will reach this IGS.

Pose fog::InitialGraspState::pose

The pose of the IGS w.r.t. the world frame.

FrameLabel fog::InitialGraspState::pose_label

The label of the frame of the IGS's pose.

Strategy fog::InitialGraspState::strategy

float fog::InitialGraspState::weight

The weight of the IGS.