GripPointSettings

Define a grip point.

Member Variables

frame: GRIP_POINT_FRAME, default: \{GRIP_POINT_FRAME::OBJECT_ABSOLUTE\} JSON Type: string / array of string +Requirement: Must be a GRIP_POINT_FRAME or vector of GRIP_POINT_FRAME items. determine which translatory dimensions are abosluze (in meter) and which are relative to the size of the 2D detection.

pose: Eigen::Transform< float, 3, Eigen::Affine >, default: \{Eigen::Transform<float, 3, Eigen::Affine>::Identity()\} JSON Type: array of array +Requirement: Must be a valid 4x4 transformation matrix. Transformation matrix that defines the grip position (grip to object transformation).

translationCorrectionFrame: GRIP_POINT_FRAME, default: \{GRIP_POINT_FRAME::BASE_RELATIVE\}

translationCorrection: Eigen::Vector3f, default: \{Eigen::Vector3f::Zero()\}

rotationCorrectionFrame: GRIP_POINT_FRAME, default: \{GRIP_POINT_FRAME::BASE_RELATIVE\}

rotationCorrection: Eigen::Matrix3f, default: \{Eigen::Matrix3f::Identity()\}

symmetry: std::shared_ptr< SymmetrySettingsBase > JSON Type: (optional) SymmetrySettingsBase object

filter: std::shared_ptr< GripPointFilterSettingsBase > JSON Type: (optional) GripPointFilterSettingsBase object

priority: uint32_t, default: {0} JSON Type: uint32_t Priority of the associated grip. The next grip is always computed based on this value and not based on the object. If priorities of two grips are equal other factors are taken into account. The higher the value, the higher the priority.

path: std::vector< PathSegmentSettings > JSON Type: (optional) array of PathSegmentSettings objects Path used for the picking of the object. If left empty or not specified the grip point is considered the sole path planning point.

Enumerations

Table 1. GRIP_POINT_FRAME
Value	Description
`OBJECT_ABSOLUTE`	Absolute values, express the grip point pose in object coordinates.
`OBJECT_RELATIVE_X`	Relative x value, orientation is same as OBJECT_ABSOLUTE, but translation is relative to the object size which is determined by bounding box3D from the 2D/3D detection.
`OBJECT_RELATIVE_Y`	Relative y value.
`OBJECT_RELATIVE_Z`	Relative z value.
`OBJECT_RELATIVE`	Relative x, y and z values. orientation is same as OBJECT_ABSOLUTE, but translation is relative to the object size which is determined by bounding box3D from the 2D/3D detection.
`BASE_ABSOLUTE` = = 1 << 3	= 1 << 3
`BASE_RELATIVE` = = 1 << 4	= 1 << 4
`TCP_ABSOLUTE` = = 1 << 5	= 1 << 5
`TCP_RELATIVE` = = 1 << 6	= 1 << 6