The namespace having all the FOG codebase. More...

Classes
class	FingerCompliance
	Implements a controller for active compliance of the hand's fingers. More...

class	ReachFGSAlpha
	A class that implements the controller for reaching the FGS state for the strategy- $\alpha$ . It closes the fingers. More...

class	ReachFGSBeta
	A class that implements the controller for reaching the FGS state for the strategy- $\beta$ . It closes the fingers and moves the arm. More...

class	ReachPGSBeta
	A 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. More...

class	UpdateBHand

class	DecisionMaker
	Decides which of the available grasp strategies can be used for grasping the target object, given the current scene. More...

class	EnablingConditions
	The enabling conditions for the Decision Making. More...

class	EnabledStrategies
	The enabled strategies from the Decision Making. More...

class	FlatObjectGrasper
	The main class of FOG which implements the pipeline for grasping a flat object. More...

class	Hand
	Represents the robotic hand as it is considered in the FOG framework. More...

class	IGSPlanner
	Plans Initial Grasping States (IGSs) for each selected grasp strategy. More...

class	InitialGraspState
	Representing and Initial Grasp State. More...

class	Interface
	Abstract class which defines the interfaces with FOG. More...

class	Models
	The FOG Models. More...

class	Object
	Represents the target object as it is considered in the FOG framework. More...

class	ObjectSurfaceCombination
	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...

struct	HandParams

class	ObjectSurfaceCombinationParams
	Parameters related to the FOG object-surface combination. More...

struct	ControllersParams

class	RobotParams
	Parameters related to the robot configuration that is used. If it is real or a simulated hardware. More...

class	BetaParams
	Parameters related to strategy- $\beta$ . More...

class	GammaParams
	Parameters related to strategy- $\gamma$ . More...

class	Params
	The FOG parameters. More...

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

class	RVisualizer
	Visualizes 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. More...

Typedefs
typedef pcl::PointCloud < pcl::PointXYZ >	PointCloud
	The type used by FOG as a Point Cloud ( $\in \mathbb{R}^{n\times 3}$ ) More...

typedef Eigen::Vector3d	Point3
	The type used by FOG as a Point in 3D space ( $\in \mathbb{R}^{3}$ ) More...

typedef Eigen::Vector3d	Vector3
	The type used by FOG as a Vector in 3D space ( $\in \mathbb{R}^{3}$ ) More...

typedef Eigen::Affine3d	Pose
	The type used by FOG as a Vector as a P ( $\in SE(3)$ ) More...

typedef Eigen::Quaterniond	Quaternion
	The type used by FOG as a Vector as a P ( $\in SE(3)$ ) More...

Enumerations
enum	Strategy { ALPHA, BETA, GAMMA }
	Lists of the available grasp strategies in FOG. More...

enum	FrameLabel { PALM, TIP1, TIP2, TIP3 }
	Defines the available frames considered in FOG framework. More...

Functions
Point3	getPointInLineSegment (const Point3 &p1, const Point3 &p2, double lambda)
	Returns a 3D point in the line segment between two points. More...

void	filterPointCloud (const Eigen::Vector4f &leaf_size, PointCloud &point_cloud)
	Downsamples a point cloud using PCL's Voxel Grid. More...

Point3	projectPointToSurface (const Point3 &point, const Point3 &surface_point, const Vector3 surface_normal)
	Projects orthogonally a 3D point onto a plane given a point of the plane and its normal vector. In implements Eq. (10) [1]. More...

void	projectPointCloudOnSurface (const PointCloud &point_cloud, const Point3 &surface_point, const Vector3 surface_normal, PointCloud &result)
	Projects a point cloud on to a plane defined by its normal vector and a point which belongs on the plane. More...

pcl::PointXYZ	toPCLPointXYZ (const Eigen::Vector3d &eigen)
	Mapping of an Eigen Vector to a PCL Point XYZ. More...

double	getDistanceFromNearestNeighbor (const PointCloud::Ptr &cloud, const Point3 &point)
	Returns the minimum distance of the given point from the given point cloud, using a K-NN Search for one neighbor. More...

std::vector< Point3 >	getPointsFarFromGiven (const Point3 &point, double radius, const Vector3 &normal, unsigned int nr_points)
	Provides points far from the one by sampling a circular curve with radius r, centered in the given point and parallel to the plane which is defined by its normal. Implements the set $\mathcal{R}$ of Eq. (13) More...

bool	isTheLinearPathClearBetweenTwoPoints (const Point3 &p1, const Point3 &p2, const PointCloud::Ptr &point_cloud, double dlambda, double mu)
	Checks if the linear path is clear betweein two points. More...

void	graspObject ()

void	extractBoundingBox (const PointCloud &point_cloud, Eigen::Vector3d &translation, Eigen::Quaterniond &rotation, Eigen::Vector3d &dimensions)
	Extracts the oriented bounding box of the given point cloud. More...

std::ostream &	operator<< (std::ostream &s, const EnabledStrategies &strategies)

std::ostream &	operator<< (std::ostream &s, const EnablingConditions &e)

std::ostream &	operator<< (std::ostream &s, const Hand &hand)

std::ostream &	operator<< (std::ostream &s, const Object &object)

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

Detailed Description

The namespace having all the FOG codebase.

Typedef Documentation

typedef Eigen::Vector3d fog::Point3

The type used by FOG as a Point in 3D space ( $\in \mathbb{R}^{3}$ )

typedef pcl::PointCloud<pcl::PointXYZ> fog::PointCloud

The type used by FOG as a Point Cloud ( $\in \mathbb{R}^{n\times 3}$ )

typedef Eigen::Affine3d fog::Pose

The type used by FOG as a Vector as a P ( $\in SE(3)$ )

typedef Eigen::Quaterniond fog::Quaternion

The type used by FOG as a Vector as a P ( $\in SE(3)$ )

typedef Eigen::Vector3d fog::Vector3

The type used by FOG as a Vector in 3D space ( $\in \mathbb{R}^{3}$ )

Enumeration Type Documentation

enum fog::FrameLabel

Defines the available frames considered in FOG framework.

Enumerator
PALM	The frame of the palm of the hand.
TIP1	The frame of the tip of the finger 1.
TIP2	The frame of the tip of the finger 2.
TIP3	The frame of the tip of the finger 3.

enum fog::Strategy

Lists of the available grasp strategies in FOG.

Enumerator
ALPHA	Strategy- $\alpha$ as described in Section III-A [1].
BETA	Strategy- $\beta$ as described in Section III-B [1].
GAMMA	Strategy- $\gamma$ as described in Section III-C [1].

Function Documentation

void fog::extractBoundingBox	(	const PointCloud &	point_cloud,
		Eigen::Vector3d &	translation,
		Eigen::Quaterniond &	rotation,
		Eigen::Vector3d &	dimensions
	)

Extracts the oriented bounding box of the given point cloud.

Parameters

point_cloud	The point cloud as input.
translation	The translation of the bounding box as output.
rotation	The orientation of the bounding box as output.
dimensions	The dimensions of the bounding box (x, y, z) wrt its own reference frame

void fog::filterPointCloud	(	const Eigen::Vector4f &	leaf_size,
		PointCloud &	point_cloud
	)

Downsamples a point cloud using PCL's Voxel Grid.

Parameters

leaf_size	The leaf size for the Voxel Grid in meters. It denotes the volume (x, y, z) which will include one point.
point_cloud	The point cloud to be sampled. This is the output.

double fog::getDistanceFromNearestNeighbor	(	const PointCloud::Ptr &	cloud,
		const Point3 &	point
	)

Returns the minimum distance of the given point from the given point cloud, using a K-NN Search for one neighbor.

Parameters

cloud	The point cloud
point	The point

Point3 fog::getPointInLineSegment	(	const Point3 &	p1,
		const Point3 &	p2,
		double	lambda
	)

inline

Returns a 3D point in the line segment between two points.

Implements the line segment: $[\mathbf{p_1}, \mathbf{p_2}] = \{\mathbf{p} \in \mathbb{R}^3 \; | \; \mathbf{p} = (1-\lambda)\mathbf{p}_1 + \lambda \mathbf{p}_2, 0 \leq \lambda \leq 1\}$

Parameters

p1	The first point of the line segment.
p2	The second point of the line segment.
lambda	The value of the parameter $\lambda$

std::vector< Point3 > fog::getPointsFarFromGiven	(	const Point3 &	point,
		double	radius,
		const Vector3 &	normal,
		unsigned int	nr_points
	)

Provides points far from the one by sampling a circular curve with radius r, centered in the given point and parallel to the plane which is defined by its normal. Implements the set $\mathcal{R}$ of Eq. (13)

Parameters

point	The given point.
radius	The radius of the circle to be sampled.
normal	The normal vector of the plane of the circle.
no_of_points	The number of points to be produced

void fog::graspObject ( )

bool fog::isTheLinearPathClearBetweenTwoPoints	(	const Point3 &	p1,
		const Point3 &	p2,
		const PointCloud::Ptr &	point_cloud,
		double	dlambda,
		double	mu
	)

Checks if the linear path is clear betweein two points.

Creates a discreate line segment between the two points and tests if the points in the line segments are close to the given point cloud.

Parameters

p1	The first point
p2	The second point
point_cloud	A pointer to the point cloud which may obstract the path between p1 and p2
dlambda	The lambda discretization parameter
mu	The $f$f parameter denoting when a point is considered close to the point cloud

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std::ostream& fog::operator<<	(	std::ostream &	s,
		const EnabledStrategies &	strategies
	)

std::ostream& fog::operator<<	(	std::ostream &	s,
		const Hand &	hand
	)

std::ostream& fog::operator<<	(	std::ostream &	s,
		const EnablingConditions &	e
	)

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

std::ostream& fog::operator<<	(	std::ostream &	s,
		const Object &	object
	)

void fog::projectPointCloudOnSurface	(	const PointCloud &	point_cloud,
		const Point3 &	surface_point,
		const Vector3	surface_normal,
		PointCloud &	result
	)

Projects a point cloud on to a plane defined by its normal vector and a point which belongs on the plane.

Parameters

point_cloud	The point cloud to be projected
surface_point	A point belonging to the surface of the plane
surface_normal	The normal vector on the plane
result	The resulted projected point cloud

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Point3 fog::projectPointToSurface	(	const Point3 &	point,
		const Point3 &	surface_point,
		const Vector3	surface_normal
	)

inline

Projects orthogonally a 3D point onto a plane given a point of the plane and its normal vector. In implements Eq. (10) [1].

Parameters

point	The point to be projected.
surface_point	A point on the surface's plane
surface_normal	The vector of the surface normal

pcl::PointXYZ fog::toPCLPointXYZ ( const Eigen::Vector3d & eigen )

inline

Mapping of an Eigen Vector to a PCL Point XYZ.

Parameters

eigen The eigen vector

Returns: The equivelant PCL point

Classes

Typedefs

Enumerations

Functions

Detailed Description

Typedef Documentation

Enumeration Type Documentation

Function Documentation