Represents the object-surface combination as it is considered in the FOG framework, i.e. the set of non-convex directions $\mathcal{N}_f$ . More...

#include <fog/models.h>

Public Member Functions
	ObjectSurfaceCombination (double point_cloud_filtering, double non_convex_dlambda, double non_convex_mu, double feasible_dlambda, double feasible_mu, double far_point_distance, double nr_far_points, double feasible_directions_centroid_filter)

	~ObjectSurfaceCombination ()

void	extract (const Object &object, const Surface &surface)
	Extracts the object-surface combination. More...

void	calcNonConvexPoints (const PointCloud &object, const Surface &surface, double dlambda, double mu)
	Calculates the non convex points, i.e. the set $\mathcal{N}$ (Eq. (11) [1]). More...

void	calcFeasibleNonConvexPoints (const Vector3 &surface_normal, double dlambda, double mu)
	Calculates set of pairs of the feasible non-convex points $\mathcal{N}_f$ (Eq. (14), (15) [1]). More...

Public Attributes
PointCloud	object_projection
	The object's projection on the support surface. Represents the set $\mathcal{S}_O$ (Eq. (9) [1]) More...

PointCloud	object_projection_union
	The union of the object projection and the object. Represents the set $\mathcal{A} =\mathcal{S}_O \cup \mathcal{O}$ . More...

PointCloud	non_convex_points
	The set of the non convex points. Represents the set $\mathcal{N}$ (Eq. (11) [1]). More...

PointCloud	non_convex_points_projected
	The set of the non convex points projected onto the surface. More...

std::vector< std::pair< Point3, Point3 > >	feasible_pairs_set
	The set of pairs of the feasible non-convex points. Represents the set $\mathcal{N}_f$ given by Eq. (14), (15) [1]. More...

Private Attributes
double	point_cloud_filtering

double	non_convex_dlambda

double	non_convex_mu

double	feasible_dlambda

double	feasible_mu

double	far_point_distance

double	nr_far_points

double	feasible_directions_centroid_filter

Detailed Description

Represents the object-surface combination as it is considered in the FOG framework, i.e. the set of non-convex directions $\mathcal{N}_f$ .

Constructor & Destructor Documentation

fog::ObjectSurfaceCombination::ObjectSurfaceCombination	(	double	point_cloud_filtering,
		double	non_convex_dlambda,
		double	non_convex_mu,
		double	feasible_dlambda,
		double	feasible_mu,
		double	far_point_distance,
		double	nr_far_points,
		double	feasible_directions_centroid_filter
	)

fog::ObjectSurfaceCombination::~ObjectSurfaceCombination ( )

inline

Member Function Documentation

void fog::ObjectSurfaceCombination::calcFeasibleNonConvexPoints	(	const Vector3 &	surface_normal,
		double	dlambda,
		double	mu
	)

Calculates set of pairs of the feasible non-convex points $\mathcal{N}_f$ (Eq. (14), (15) [1]).

The final result is written in fog::ObjectSurfaceCombination::feasible_pairs_set.

Parameters

surface_normal	The surface normal.
dlambda	The lambda step for the line segments.
The	parameter $\mu$ for the clearence of the path.

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void fog::ObjectSurfaceCombination::calcNonConvexPoints	(	const PointCloud &	object,
		const Surface &	surface,
		double	dlambda,
		double	mu
	)

Calculates the non convex points, i.e. the set $\mathcal{N}$ (Eq. (11) [1]).

The final result is written in ObjectSurfaceCombination::non_convex_points.

Parameters

object	The point cloud of the object.
surface	The support surface.
dlambda	The step for discritizing line segments
mu	The parameter $\mu$ dependent on the hand in use.

See Also: fog::getPointInLineSegment

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void fog::ObjectSurfaceCombination::extract	(	const Object &	object,
		const Surface &	surface
	)

Extracts the object-surface combination.

Parameters

object	The model of the object
surface	The model of the surface

See Also: fog::Object, fog::Surface

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Member Data Documentation

double fog::ObjectSurfaceCombination::far_point_distance

private

double fog::ObjectSurfaceCombination::feasible_directions_centroid_filter

private

double fog::ObjectSurfaceCombination::feasible_dlambda

private

double fog::ObjectSurfaceCombination::feasible_mu

private

std::vector<std::pair<Point3, Point3> > fog::ObjectSurfaceCombination::feasible_pairs_set

The set of pairs of the feasible non-convex points. Represents the set $\mathcal{N}_f$ given by Eq. (14), (15) [1].

The first element is $\mathbf{p}_R$ and the second $\mathbf{p}_N$ .

double fog::ObjectSurfaceCombination::non_convex_dlambda

private

double fog::ObjectSurfaceCombination::non_convex_mu

private

PointCloud fog::ObjectSurfaceCombination::non_convex_points

The set of the non convex points. Represents the set $\mathcal{N}$ (Eq. (11) [1]).

PointCloud fog::ObjectSurfaceCombination::non_convex_points_projected

The set of the non convex points projected onto the surface.

double fog::ObjectSurfaceCombination::nr_far_points

private

PointCloud fog::ObjectSurfaceCombination::object_projection

The object's projection on the support surface. Represents the set $\mathcal{S}_O$ (Eq. (9) [1])

PointCloud fog::ObjectSurfaceCombination::object_projection_union

The union of the object projection and the object. Represents the set $\mathcal{A} =\mathcal{S}_O \cup \mathcal{O}$ .

double fog::ObjectSurfaceCombination::point_cloud_filtering

private

Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation