hpp-affordance
4.11.0
Implementation to Extract Whole-Body Affordances for Mutli-Contact Planning.
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objects of type Lean. Inherits the OperationBase class. More...
#include <hpp/affordance/operations.hh>
Public Member Functions | |
LeanOperation (const double margin=0.3, const double nbTriMargin=0.3, const double minArea=0.05, const char *affordanceName="Lean") | |
bool | requirement (const fcl::Vec3f &normal) |
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OperationBase () | |
OperationBase (const double margin=0.3, const double nbTriMargin=0.3, const double minArea=0.05, const char *affordanceName="noAffordance") | |
Additional Inherited Members | |
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const fcl::Vec3f | zWorld_ |
The orientation of the world z axis. Needed to find potential affordance objects. More... | |
const double | margin_ |
The error margin within which the requirement function must be fullfilled. More... | |
const double | neighbouringTriangleMargin_ |
const double | minArea_ |
const char * | affordance_ |
Name of the affordance type for which te requirement exists. More... | |
objects of type Lean. Inherits the OperationBase class.
Class that contains the information needed to create affordance
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inlineexplicit |
Constructor that takes in user-defined parameters
margin | Margin needed for the evaluation of the requirement function |
nbTriMargin | Margin between two triangles tested for a single affordance surface. If the angle between two triangles is greater than the provided margin, the triangles cannot be part of the same affordance surface. |
minArea | Minimum area needed for the formation of an affordance object |
affordanceName | The name of the affordance type |
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inlinevirtual |
The implementation of the requirement function for Lean affordances overrides the virtual function in class OperationBase.
nromal | Normal vector of the tested triangle. |
Implements hpp::affordance::OperationBase.