Class trifinger_object_tracking::Cuboid2x2x8V2Model

class Cuboid2x2x8V2Model : public virtual trifinger_object_tracking::BaseCuboidModel, private trifinger_object_tracking::CubeV2ColorOrderBase, public virtual trifinger_object_tracking::BaseCuboidModel, private trifinger_object_tracking::CubeV2ColorOrderBase

Model for the 2x2x8 cm cuboid version 2.

See Object Model for more information on the object model.

Public Functions

inline virtual std::string get_name() const override

Get name of the model.

inline virtual CornerPositionArray get_corners() const override

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

inline virtual ColorModel get_color_model() const override

Get the colour model that is used for this object.

inline virtual std::string get_name() const override

Get name of the model.

inline virtual CornerPositionArray get_corners() const override

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

inline virtual ColorModel get_color_model() const override

Get the colour model that is used for this object.

Public Static Attributes

static constexpr float LENGTH = 0.08

static constexpr float LONG_HALF_WIDTH = LENGTH / 2.0

static constexpr float WIDTH = 0.02

static constexpr float SHORT_HALF_WIDTH = WIDTH / 2.0

static constexpr CornerPositionArray cube_corners = {{{+SHORT_HALF_WIDTH, -LONG_HALF_WIDTH, +SHORT_HALF_WIDTH, 1}, {+SHORT_HALF_WIDTH, +LONG_HALF_WIDTH, +SHORT_HALF_WIDTH, 1}, {-SHORT_HALF_WIDTH, +LONG_HALF_WIDTH, +SHORT_HALF_WIDTH, 1}, {-SHORT_HALF_WIDTH, -LONG_HALF_WIDTH, +SHORT_HALF_WIDTH, 1}, {+SHORT_HALF_WIDTH, -LONG_HALF_WIDTH, -SHORT_HALF_WIDTH, 1}, {+SHORT_HALF_WIDTH, +LONG_HALF_WIDTH, -SHORT_HALF_WIDTH, 1}, {-SHORT_HALF_WIDTH, +LONG_HALF_WIDTH, -SHORT_HALF_WIDTH, 1}, {-SHORT_HALF_WIDTH, -LONG_HALF_WIDTH, -SHORT_HALF_WIDTH, 1}}}

Cube corner positions in cube frame.