C++ (Cpp) PointList::slice Examples

Example #1

File: grasp_set.cpp Project: 2scholz/gpg

Grasp GraspSet::createHypothesis(const Eigen::Vector3d& sample, const PointList& point_list,
  const std::vector<int>& indices_learning, const Eigen::Matrix3d& hand_frame, const FingerHand& finger_hand) const
{
  // extract data for classification
  PointList point_list_learning = point_list.slice(indices_learning);

//  std::cout << point_list_learning.getPoints().block(0,0,3,5) << "\n";
//  std::cout << "---------------\n";
//  std::cout << point_list_learning.getNormals().block(0,0,3,5) << "\n";

  // calculate grasp width (hand opening width)
  double width = point_list_learning.getPoints().row(0).maxCoeff() - point_list_learning.getPoints().row(0).minCoeff();

  Grasp hand(sample, hand_frame, finger_hand, width);

  // evaluate if the grasp is antipodal
  labelHypothesis(point_list_learning, finger_hand, hand);

  return hand;
}