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GraspedPolyhedron Class Reference
Inheritance diagram for GraspedPolyhedron:
Collaboration diagram for GraspedPolyhedron:

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
 

Constructor & Destructor Documentation

function GraspedPolyhedron ( verts  ,
shrink_factor   
)
Parameters
vertsA 3 x N matrix. The polyhedron is defined as the convex hull of the columns of verts
shrink_factorA 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)
Return values
obj

Member Function Documentation

function plotGeometry ( obj  ,
use_lcmgl   
)
virtual

Reimplemented from GraspedGeometry.

Member Data Documentation

Property Ain
protected

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

Property Ain_shrunk
protected

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

Property bin
protected
Property bin_shrunk
protected
Property inner_sphere_center
protected

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

Property inner_sphere_radius
protected
Property num_verts
protected
Property shrink_factor
protected

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

Property verts
protected
Property verts_shrunk
protected

The documentation for this class was generated from the following file: