Flat Object Grasping Library (FOG)  0.2.1
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fog::Surface Class Reference

Represents the support surface as it is considered in the FOG framework, as rectangle with 4 limits. More...

#include <fog/surface.h>

Public Member Functions

 Surface (const std::vector< Point3 > &surface_points)
 The default constructor. More...
 
 ~Surface ()
 
void extract ()
 

Public Attributes

std::vector< Point3edges
 The four co-planar points which defines the rectangular surface plane. More...
 
Point3 centroid
 The centroid of the fog::Surface::edges which belongs to the surface. Represents the $\mathbf{s}_p$ vector. More...
 
Vector3 normal_vector
 The normal vector of the surface. Represents the $\hat{\mathbf{s}}_n$ vector. More...
 
std::vector< Vector3limit_vectors
 The limit vectors $\hat{\mathbf{s}}_{l,k}$. More...
 
std::vector< Vector3boundary_vectors
 The boundary vectors $\hat{\mathbf{s}}_{b,k}$. More...
 

Friends

std::ostream & operator<< (std::ostream &, const Surface &)
 

Detailed Description

Represents the support surface as it is considered in the FOG framework, as rectangle with 4 limits.

Constructor & Destructor Documentation

fog::Surface::Surface ( const std::vector< Point3 > &  surface_points)
inline

The default constructor.

Initialized the fog::Surface::edges, the fog::Surface::boundary_vectors and fog::Surface::limit_vectors to 4.

fog::Surface::~Surface ( )
inline

Member Function Documentation

void fog::Surface::extract ( )

Friends And Related Function Documentation

std::ostream& operator<< ( std::ostream &  s,
const Surface surface 
)
friend

Member Data Documentation

std::vector<Vector3> fog::Surface::boundary_vectors

The boundary vectors $\hat{\mathbf{s}}_{b,k}$.

Point3 fog::Surface::centroid

The centroid of the fog::Surface::edges which belongs to the surface. Represents the $\mathbf{s}_p$ vector.

std::vector<Point3> fog::Surface::edges

The four co-planar points which defines the rectangular surface plane.

std::vector<Vector3> fog::Surface::limit_vectors

The limit vectors $\hat{\mathbf{s}}_{l,k}$.

Vector3 fog::Surface::normal_vector

The normal vector of the surface. Represents the $\hat{\mathbf{s}}_n$ vector.