CBracketGrasperPredicate< N > Class Template Reference

#include <CBracketGrasperPredicate.h>

Inheritance diagram for CBracketGrasperPredicate< N >:

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Detailed Description

template<size_t N>
class CBracketGrasperPredicate< N >

Definition at line 10 of file CBracketGrasperPredicate.h.

List of all members.

Public Types
typedef RRTNode2DR< N >	NodeType_t
typedef NodeType_t::NodeValue_t	NodeValue_t
Public Member Functions
	CBracketGrasperPredicate ()
	constructor
	~CBracketGrasperPredicate ()
	destructor
virtual bool	admissible (NodeValue_t q, std::vector< NodeType_t > &tree, unsigned int parent)
	admissibility check
float	newOri (fmat::Column< 3 > &from, fmat::Column< 3 > &to, float fOri)
	generate new orientation
fmat::Column< 3 >	gripperPosition (const NodeValue_t &q)
float	stateOrien (const NodeValue_t &s)
Public Attributes
KinematicJoint *	gripperFrameKJ
KinematicJoint *	tmpKJ
KinematicJoint *	joints [N]
NodeType_t::CollisionChecker *	cc
fmat::Column< 3 >	fromPT
fmat::Column< 3 >	toPT
fmat::Column< 3 >	goalPT
float	fromOri
float	toOri
float	dir
Private Member Functions
CBracketGrasperPredicate &	operator= (const CBracketGrasperPredicate &mp)
	CBracketGrasperPredicate (const CBracketGrasperPredicate &mp)

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Member Typedef Documentation

template<size_t N>

typedef RRTNode2DR<N> CBracketGrasperPredicate< N >::NodeType_t

Definition at line 12 of file CBracketGrasperPredicate.h.

template<size_t N>

typedef NodeType_t::NodeValue_t CBracketGrasperPredicate< N >::NodeValue_t

Definition at line 13 of file CBracketGrasperPredicate.h.

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Constructor & Destructor Documentation

template<size_t N>

CBracketGrasperPredicate< N >::CBracketGrasperPredicate

(

)

constructor

Definition at line 22 of file CBracketGrasperPredicate.h.

template<size_t N>

CBracketGrasperPredicate< N >::~CBracketGrasperPredicate

(

)

destructor

Definition at line 33 of file CBracketGrasperPredicate.h.

template<size_t N>

CBracketGrasperPredicate< N >::CBracketGrasperPredicate

(

const CBracketGrasperPredicate< N > &

mp

)

[private]

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Member Function Documentation

template<size_t N>

virtual bool CBracketGrasperPredicate< N >::admissible	(	NodeValue_t	q,
		std::vector< NodeType_t > &	tree,
		unsigned int	parent
	)			[virtual]

admissibility check

Definition at line 36 of file CBracketGrasperPredicate.h.

template<size_t N>

fmat::Column<3> CBracketGrasperPredicate< N >::gripperPosition

(

const NodeValue_t &

q

)

Definition at line 80 of file CBracketGrasperPredicate.h.

Referenced by CBracketGrasperPredicate< N >::admissible().

template<size_t N>

float CBracketGrasperPredicate< N >::newOri	(	fmat::Column< 3 > &	from,
		fmat::Column< 3 > &	to,
		float	fOri
	)

generate new orientation

Definition at line 74 of file CBracketGrasperPredicate.h.

Referenced by CBracketGrasperPredicate< N >::admissible().

template<size_t N>

CBracketGrasperPredicate& CBracketGrasperPredicate< N >::operator=

(

const CBracketGrasperPredicate< N > &

mp

)

[private]

template<size_t N>

float CBracketGrasperPredicate< N >::stateOrien

(

const NodeValue_t &

s

)

Definition at line 85 of file CBracketGrasperPredicate.h.

Referenced by CBracketGrasperPredicate< N >::admissible().

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Member Data Documentation

template<size_t N>

NodeType_t::CollisionChecker* CBracketGrasperPredicate< N >::cc

Definition at line 16 of file CBracketGrasperPredicate.h.

Referenced by CBracketGrasperPredicate< N >::admissible(), CBracketGrasperPredicate< N >::CBracketGrasperPredicate(), and CBracketGrasperPredicate< N >::~CBracketGrasperPredicate().

template<size_t N>

float CBracketGrasperPredicate< N >::dir

Definition at line 18 of file CBracketGrasperPredicate.h.

Referenced by CBracketGrasperPredicate< N >::admissible().

template<size_t N>

float CBracketGrasperPredicate< N >::fromOri

Definition at line 18 of file CBracketGrasperPredicate.h.

Referenced by CBracketGrasperPredicate< N >::admissible().

template<size_t N>

fmat::Column<3> CBracketGrasperPredicate< N >::fromPT

Definition at line 17 of file CBracketGrasperPredicate.h.

Referenced by CBracketGrasperPredicate< N >::admissible().

template<size_t N>

fmat::Column<3> CBracketGrasperPredicate< N >::goalPT

Definition at line 17 of file CBracketGrasperPredicate.h.

Referenced by CBracketGrasperPredicate< N >::admissible().

template<size_t N>

KinematicJoint* CBracketGrasperPredicate< N >::gripperFrameKJ

Definition at line 15 of file CBracketGrasperPredicate.h.

Referenced by CBracketGrasperPredicate< N >::admissible(), CBracketGrasperPredicate< N >::CBracketGrasperPredicate(), CBracketGrasperPredicate< N >::gripperPosition(), and CBracketGrasperPredicate< N >::~CBracketGrasperPredicate().

template<size_t N>

KinematicJoint * CBracketGrasperPredicate< N >::joints[N]

Definition at line 15 of file CBracketGrasperPredicate.h.

Referenced by CBracketGrasperPredicate< N >::admissible(), CBracketGrasperPredicate< N >::CBracketGrasperPredicate(), and CBracketGrasperPredicate< N >::gripperPosition().

template<size_t N>

KinematicJoint * CBracketGrasperPredicate< N >::tmpKJ

Definition at line 15 of file CBracketGrasperPredicate.h.

Referenced by CBracketGrasperPredicate< N >::CBracketGrasperPredicate().

template<size_t N>

float CBracketGrasperPredicate< N >::toOri

Definition at line 18 of file CBracketGrasperPredicate.h.

Referenced by CBracketGrasperPredicate< N >::admissible().

template<size_t N>

fmat::Column<3> CBracketGrasperPredicate< N >::toPT

Definition at line 17 of file CBracketGrasperPredicate.h.

Referenced by CBracketGrasperPredicate< N >::admissible().

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

• CBracketGrasperPredicate.h