hpp-affordance
4.9.0
Implementation to Extract Whole-Body Affordances for Mutli-Contact Planning.
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19 #ifndef HPP_AFFORDANCE_AFFORDANCE_EXTRACTION_HH
20 #define HPP_AFFORDANCE_AFFORDANCE_EXTRACTION_HH
26 namespace affordance {
50 a = (tri.
p1 - tri.
p2).norm();
51 b = (tri.
p2 - tri.
p3).norm();
52 c = (tri.
p3 - tri.
p1).norm();
53 double s = 0.5 * (a + b + c);
54 area = sqrt(s * (s-a) * (s-b) * (s-c));
154 const std::vector<Triangle>& allTris,
155 std::vector<unsigned int>& searchableTris,
156 const unsigned int& refTriIdx,
double& area);
191 #endif // HPP_AFFORDANCE_AFFORDANCE_EXTRACTION_HH
void TriangleNormal(TrianglePoints &tri)
Definition: affordance-extraction.hh:59
double area
The area of a triangle.
Definition: affordance-extraction.hh:67
void TriangleArea(TrianglePoints &tri)
Definition: affordance-extraction.hh:47
boost::shared_ptr< OperationBase > OperationBasePtr_t
Definition: fwd.hh:47
SemanticsData()
Definition: affordance-extraction.hh:111
BVHModelOBConst_Ptr_t GetModel(FclConstCollisionObjectPtr_t object)
std::vector< std::vector< AffordancePtr_t > > affordances_
Definition: affordance-extraction.hh:116
boost::shared_ptr< SemanticsData > SemanticsDataPtr_t
Definition: fwd.hh:49
Triangle(const TrianglePoints &inPoints)
Constructor that takes in a TrianglePoints object.
Definition: affordance-extraction.hh:39
fcl::Vec3f p2
Definition: affordance-extraction.hh:32
Helper class to save triangle information.
Definition: affordance-extraction.hh:35
Affordance()
Definition: affordance-extraction.hh:86
const typedef fcl::CollisionObject * FclConstCollisionObjectPtr_t
Definition: fwd.hh:54
std::vector< unsigned int > indices_
Definition: affordance-extraction.hh:98
Definition: affordance-extraction.hh:82
void searchLinkedTriangles(std::vector< unsigned int > &listPotential, const OperationBasePtr_t &refOp, const std::vector< Triangle > &allTris, std::vector< unsigned int > &searchableTris, const unsigned int &refTriIdx, double &area)
Triangle()
Definition: affordance-extraction.hh:37
Affordance(const std::vector< unsigned int > &idxVec, FclConstCollisionObjectPtr_t colObj)
Definition: affordance-extraction.hh:93
Definition: affordance-extraction.hh:25
std::vector< CollisionObjects_t > getReducedAffordanceObjects(const SemanticsDataPtr_t &sData, std::vector< double > reduceSizes)
SemanticsDataPtr_t affordanceAnalysis(FclConstCollisionObjectPtr_t colObj, const OperationBases_t &opVec)
FclConstCollisionObjectPtr_t colObj_
Definition: affordance-extraction.hh:101
TrianglePoints points
The global position of a triangles vertices.
Definition: affordance-extraction.hh:65
Definition: affordance-extraction.hh:30
boost::shared_ptr< const BVHModelOB > BVHModelOBConst_Ptr_t
Definition: fwd.hh:41
std::vector< OperationBasePtr_t > OperationBases_t
Definition: fwd.hh:48
Definition: affordance-extraction.hh:107
fcl::Vec3f normal
The normal vector of a triangle.
Definition: affordance-extraction.hh:69
std::vector< CollisionObjects_t > getAffordanceObjects(const SemanticsDataPtr_t &sData)
fcl::Vec3f p3
Definition: affordance-extraction.hh:32
fcl::Vec3f p1
Definition: affordance-extraction.hh:32