Class trifinger_object_tracking::BaseCubeModel

class BaseCubeModel : public virtual trifinger_object_tracking::BaseCuboidModel, public virtual trifinger_object_tracking::BaseCuboidModel

Base model for all 65mm cubes.

Subclassed by trifinger_object_tracking::CubeV1Model, trifinger_object_tracking::CubeV1Model, trifinger_object_tracking::CubeV2Model, trifinger_object_tracking::CubeV2Model, trifinger_object_tracking::CubeV3Model, trifinger_object_tracking::CubeV3Model

Public Functions

inline virtual CornerPositionArray get_corners() const override

Get homogeneous coordinates (x, y, z, 1) of the cube corners.

inline virtual CornerPositionArray get_corners() const override

Get homogeneous coordinates (x, y, z, 1) of the cube corners.

Public Static Attributes

static constexpr float WIDTH = 0.0652

static constexpr float HALF_WIDTH = WIDTH / 2.0

static constexpr CornerPositionArray cube_corners{{{+HALF_WIDTH, -HALF_WIDTH, +HALF_WIDTH, 1}, {+HALF_WIDTH, +HALF_WIDTH, +HALF_WIDTH, 1}, {-HALF_WIDTH, +HALF_WIDTH, +HALF_WIDTH, 1}, {-HALF_WIDTH, -HALF_WIDTH, +HALF_WIDTH, 1}, {+HALF_WIDTH, -HALF_WIDTH, -HALF_WIDTH, 1}, {+HALF_WIDTH, +HALF_WIDTH, -HALF_WIDTH, 1}, {-HALF_WIDTH, +HALF_WIDTH, -HALF_WIDTH, 1}, {-HALF_WIDTH, -HALF_WIDTH, -HALF_WIDTH, 1}}}

Cube corner positions in cube frame.