Class Graspable

java.lang.Object
  |
  +--Object3d
        |
        +--Graspable

class Graspable

extends Object3d

Author:

Erhan Oztop, 2001-2002

Source code by Erhan Oztop (erhan@atr.co.jp)
Copyright August 2002 via
University of Southern California Ph.D. publication copyright

Field Summary

int	affordance
boolean	avoidObjects
double	BASERATE
(package private) int	fake
(package private) int[][]	fingers
double	GRASP_TH
(package private) static int	graspc
(package private) static java.lang.String[]	grasps
(package private) Hand	hand
(package private) Segment[]	hseg
(package private) int	hsegc
int	ID
(package private) static int	IDgenerator
(package private) int[]	index
(package private) double[]	init_cfg
(package private) Point3d	lastopposition
int	lastPlan
(package private) int[]	middle
(package private) java.lang.String	myname
(package private) static int	NONE
double	objsize
(package private) int[]	pinky
(package private) static int	POWER
(package private) static int	POWER2
(package private) static int	PRECISION
double	RATE_TH
(package private) static int	REACHOFFSET
(package private) static int	REACHOFFSETBYNAME
(package private) static int	REACHONLY
(package private) int[]	ring
(package private) static int	SIDE
(package private) static int	softcon_J2_45
(package private) static int	softcon_J2_60
(package private) static double	softconGAIN
(package private) Point3d[]	target
(package private) int[]	thumb
(package private) int	thumbTip
(package private) int	tIc
(package private) Point3d	tilt
(package private) static Point3d	tilter
(package private) int[]	tIndex
(package private) int	wrist
(package private) Point3d	wristTarget
(package private) Point3d	X
(package private) Point3d	Y
(package private) Point3d	Z

Fields inherited from class Object3d

activeReachThread, bab_ph_GRASP1, bab_ph_NONE, bab_ph_REACH1, bab_ph_REACH2, bab_ph_WRIST1, bab_ph_WRIST2, babble, BABBLE, babble_GRASPFAIL, babble_GRASPOK, babble_GRASPON, babble_phase, babble_REACH1FAIL, babble_REACH1OK, babble_REACH1ON, babble_REACH2FAIL, babble_REACH2OK, babble_REACH2ON, babble_ROTATEFAIL, babble_ROTATEOK, babble_ROTATEON, babble_steps, babble_succ, babble_trials, babbleGradIt, babbleOffset, babbleReach1MaxTick, babbleReach2MaxTick, babbleStatus, babbleZero, basetimestep, bestConfig, betas, bj1, bj2, bj3, bj4, blockc, callexe, chopped, clx, cly, clz, com, costThreshold, cRATE, dis, dTeta, encloseTime, end, endeff, endtime, EXECUTE, finger_trials, goodZ, graspConfig, h, hindex, hpc, hplist, infoRate, infoStr, infoStrC, initialConfig, intemp, J, JACOBIAN_th, jointpath, kol, l1, l2, lasterr, lastOK, lasttr, location_trials, mapping, MAXBABBLE, maxclx, maxcly, maxclz, MAXFINGER, MAXREACH, MAXROTATE, merged, midteta, minCost, minTorque, mp, negReinforcement, newBabbleAttempt, newPDFgrasp, noshow, nslrun, ntick, obj, objdepth, objectCenter, objectRadius, of, offRandomness, offSave, offx, offy, ordered_pick, params, parnode, pdf_phase, PDFGRASP, PDFgraspc, PDFgraspcINI, PDFwristgrasp, phaseStr, reach_basetime, reach_deltat, reach_speed, reach1Config, reach1failc, reach2Config, Reach2Target, recognize, recordit, root, rotate_trials, rotateConfig, rotRandomness, rotSave, rtime, save, search_mode, search_phase, searchZ, seg, segc, showInfo, SILENT_SEARCH, slc, softcon, speed, sPL, sPN, start, teta1, teta2, time, udef_d, udef_dc, udef_i, udef_ic, udef_P, udef_Pc, userPoints, VISUAL_SEARCH, weightSave, workCell, wristGain, xx, yy, zeroError

Constructor Summary

(package private)	Graspable(Hand hand, java.lang.String name, int sidec, int rad)
(package private)	Graspable(Hand hand, java.lang.String name, int sidec, int rad, java.lang.String afs)

Method Summary

void	afterAction()
void	afterReach()
void	beBabbleGrabbed()
void	beforeAction()
void	beGrabbed()
void	beGrabbed(int k)
void	beGrabbed(int exclude, int jon)
(package private) Point3d	error_vector()
Point3d	estimateWrist(Point3d P0, Point3d P1, double offset)
(package private) Point3d	findPrecisionOpposition(Point3d P)
static java.lang.String	getGrasp(int i)
(package private) double	grasp_error()
(package private) void	mask(int l)
(package private) void	mask(java.lang.String s)
void	maskHand()
(package private) void	natural()
(package private) void	power()
(package private) void	power2()
(package private) void	precision()
(package private) int	quadrant(Point3d p)
(package private) double	reach_error()
(package private) Point3d	reach_error(int softcon)
(package private) void	reachoffset()
(package private) void	reachoffset(Point3d offset)
(package private) void	reachoffsetByName(java.lang.String s)
(package private) void	reachoffsetByName(java.lang.String s, Point3d offset)
(package private) void	reachonly()
void	resetAvoidance()
(package private) void	resetRot()
(package private) void	setAffordance(java.lang.String s)
void	setAvoidance()
void	setGraspablePlanes()
(package private) void	setTilt(double t)
(package private) void	setTilt(Point3d p)
(package private) void	setupHandValues()
(package private) void	setupObjFrame()
(package private) void	side()
void	toggleAvoidance()
(package private) void	trial_precision()
(package private) void	unmask(int l)
(package private) void	unmask(java.lang.String s)
(package private) void	unmaskAll()
void	unmaskHand()
(package private) void	Zrot(double t)

Methods inherited from class Object3d

adduserPoints, addWristData, adjustPrecisionGrasp, advanceRotCnt, chmod, clearTrajectory, closeObjectFrame, collisionRotate, constrainedRotate, createReachThread, disablePanels, discardMerged, doGesture, doneRotCnt, doReach, drawSkel, drawSkel, drawSolid, drawSolid, drawWire, drawWire, enablePanels, endInvKinMap, estimateSize, finalizeReach, findJointAngles, findSegment, fireBabbleLearn, fireExecution, firePDFgrasp, firePDFwristgrasp, fireSilentSearch, fireVisualSearch, get_segIndex, getActionSelection, getAngleList, getJoint, getSegmentIndex, getuserPoints, gradientDescent_arm, gradientDescent_wrist, gradientDescent, hitConstraint, inside, installCfg, jacobianTranspose, kill_ifActive, lineIntersection, makeInvKinMap, mergeObject, moveto, moveto, new_segmentCollision, newBabbleAttempt_init, nextCell, paintAllSurfaces, pdf_chmod, PDFcondKill, pickNoisyRotation, pickRotation, pow, project, project, reachActive, rect_moveto, rect_moveto, reinforceGrasp, resetRotCnt, resetRotCnt, restoreAngles, restoreChildren, restoreChildren, segmentCollision, segmentIntersection, set2doffset, setCell, setJointAngle, setJointConstraint, setPlaneProperties, setupObject, showObjectFrame, sideOF, sortPlanes, startReach, storeAngles, tickBabble, tickGesture, tickPDFgrasp, tickReachGesture, tickSilent, tickVisual, tickWrist, toggleActionSelection, toggleObjectFrame, trimTrajectory, truncateChildren, updateObjectDepth, weighted_restoreAngles

Methods inherited from class java.lang.Object

, clone, equals, finalize, getClass, hashCode, notify, notifyAll, registerNatives, toString, wait, wait, wait

Field Detail

X

Point3d X

Y

Point3d Y

Z

Point3d Z

tilt

Point3d tilt

hseg

Segment[] hseg

hsegc

int hsegc

hand

Hand hand

target

Point3d[] target

myname

java.lang.String myname

IDgenerator

static int IDgenerator

ID

public int ID

objsize

public double objsize

grasps

static final java.lang.String[] grasps

graspc

static final int graspc

affordance

public int affordance

lastopposition

Point3d lastopposition

tIndex

int[] tIndex

tIc

int tIc

wristTarget

Point3d wristTarget

thumb

int[] thumb

index

int[] index

middle

int[] middle

ring

int[] ring

pinky

int[] pinky

wrist

int wrist

fake

int fake

thumbTip

int thumbTip

fingers

int[][] fingers

NONE

static final int NONE

PRECISION

static final int PRECISION

POWER

static final int POWER

POWER2

static final int POWER2

SIDE

static final int SIDE

REACHONLY

static final int REACHONLY

REACHOFFSET

static final int REACHOFFSET

REACHOFFSETBYNAME

static final int REACHOFFSETBYNAME

lastPlan

public int lastPlan

GRASP_TH

public double GRASP_TH

RATE_TH

public double RATE_TH

BASERATE

public double BASERATE

tilter

static Point3d tilter

init_cfg

double[] init_cfg

avoidObjects

public boolean avoidObjects

softconGAIN

static double softconGAIN

softcon_J2_45

static final int softcon_J2_45

softcon_J2_60

static final int softcon_J2_60

Constructor Detail

Graspable

Graspable(Hand hand,
          java.lang.String name,
          int sidec,
          int rad,
          java.lang.String afs)

Graspable

Graspable(Hand hand,
          java.lang.String name,
          int sidec,
          int rad)

Method Detail

setupObjFrame

void setupObjFrame()

setGraspablePlanes

public void setGraspablePlanes()

setTilt

void setTilt(double t)

setTilt

void setTilt(Point3d p)

Zrot

void Zrot(double t)

resetRot

void resetRot()

setAffordance

void setAffordance(java.lang.String s)

getGrasp

public static java.lang.String getGrasp(int i)

natural

void natural()

setupHandValues

void setupHandValues()

beGrabbed

public void beGrabbed()

beGrabbed

public void beGrabbed(int k)

beGrabbed

public void beGrabbed(int exclude,
                      int jon)

beBabbleGrabbed

public void beBabbleGrabbed()

estimateWrist

public Point3d estimateWrist(Point3d P0,
                             Point3d P1,
                             double offset)

side

void side()

reachoffset

void reachoffset()

reachoffset

void reachoffset(Point3d offset)

reachoffsetByName

void reachoffsetByName(java.lang.String s)

reachoffsetByName

void reachoffsetByName(java.lang.String s,
                       Point3d offset)

reachonly

void reachonly()

precision

void precision()

quadrant

int quadrant(Point3d p)

findPrecisionOpposition

Point3d findPrecisionOpposition(Point3d P)

trial_precision

void trial_precision()

power2

void power2()

power

void power()

beforeAction

public void beforeAction()

afterAction

public void afterAction()

afterReach

public void afterReach()

maskHand

public void maskHand()

unmaskHand

public void unmaskHand()

setAvoidance

public void setAvoidance()

resetAvoidance

public void resetAvoidance()

toggleAvoidance

public void toggleAvoidance()

error_vector

Point3d error_vector()

reach_error

Point3d reach_error(int softcon)

reach_error

double reach_error()

grasp_error

double grasp_error()

mask

void mask(int l)

unmask

void unmask(int l)

mask

void mask(java.lang.String s)

unmask

void unmask(java.lang.String s)

unmaskAll

void unmaskAll()