Drake

Public Member Functions  
function  GraspedPolyhedron (verts, shrink_factor) 
function  plotGeometry (obj, use_lcmgl) 
Public Member Functions inherited from GraspedGeometry  
function  GraspedGeometry (type) 
Protected Attributes  
Property  num_verts 
Property  verts 
Property  Ain 
The polyhderon can also be described as Ain*x <= bin. More...  
Property  bin 
Property  shrink_factor 
We define a shrunk polyhedron as the convex hull of the shrunk surface region. More...  
Property  verts_shrunk 
Property  Ain_shrunk 
The shrunk polyhedron can also be defined as Ain_shrunk*x <= bin_shrunk. More...  
Property  bin_shrunk 
Property  inner_sphere_center 
We also want to find the maximum sphere contained in the polyhedron. More...  
Property  inner_sphere_radius 
Protected Attributes inherited from GraspedGeometry  
Property  type 
Additional Inherited Members  
Public Attributes inherited from GraspedGeometry  
Constant Property  POLYHEDRON_TYPE 
Constant Property  SPHERE_TYPE 
Constant Property  ELLIPSOID_TYPE 
Constant Property  CYLINDER_TYPE 
function GraspedPolyhedron  (  verts  , 
shrink_factor  
) 
verts  A 3 x N matrix. The polyhedron is defined as the convex hull of the columns of verts 
shrink_factor  A scalar in the range of (0,1]. The allowable grasp region in each surface is the shrunk region of each face. The shrinking factor is shrink_factor. When shrink_factor = 1, the allowable grasp region is the whole face (including the edges of the polyhedron) 
obj 

virtual 
Reimplemented from GraspedGeometry.

protected 
The polyhderon can also be described as Ain*x <= bin.

protected 
The shrunk polyhedron can also be defined as Ain_shrunk*x <= bin_shrunk.

protected 

protected 

protected 
We also want to find the maximum sphere contained in the polyhedron.

protected 

protected 

protected 
We define a shrunk polyhedron as the convex hull of the shrunk surface region.

protected 

protected 