Core Module

The core module for Model Extraction, Decision Making and IGS planning. More...

Classes
class	fog::DecisionMaker
	Decides which of the available grasp strategies can be used for grasping the target object, given the current scene. More...
class	fog::FlatObjectGrasper
	The main class of FOG which implements the pipeline for grasping a flat object. More...
class	fog::IGSPlanner
	Plans Initial Grasping States (IGSs) for each selected grasp strategy. More...
class	fog::InitialGraspState
	Representing and Initial Grasp State. More...
class	fog::Interface
	Abstract class which defines the interfaces with FOG. More...
class	fog::Models
	The FOG Models. More...
class	fog::Object
	Represents the target object as it is considered in the FOG framework. More...
class	fog::ObjectSurfaceCombination
	Represents the object-surface combination as it is considered in the FOG framework, i.e. the set of non-convex directions . More...
class	fog::Surface
	Represents the support surface as it is considered in the FOG framework, as rectangle with 4 limits. More...

Detailed Description

The core module for Model Extraction, Decision Making and IGS planning.

The Core Module include a number of core functionalities like extracting the models of hand, object support surface etc, deciding on which grasp strategy should be used given the current scene, and producing IGSs for different strategies. Finally, defines interfaces with the world outside FOG.