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‎.gitignore

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# Compiled Object files
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*.slo
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*.lo
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*.o
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# Compiled Dynamic libraries
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*.so
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*.dylib
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# Compiled Static libraries
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*.lai
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*.la
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*.a
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# Compiled source #
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###################
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*.com
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*.class
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*.dll
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*.exe
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# Logs and databases #
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######################
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*.log
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*.sql
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*.sqlite
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# OS generated files #
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######################
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.DS_Store
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.DS_Store?
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._*
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.Spotlight-V100
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.Trashes
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ehthumbs.db
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Thumbs.db
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# temporary compilation files #
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######################
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*.pyc
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# Cygwin stack dump files
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*.stackdump
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# platform specific configuration
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######################
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Makefile.config
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# Qt meta objects
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######################
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*.pro.user
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*Qt/Makefile
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# Settings Files
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*.settings
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#CMake temporary files
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CMakeFiles
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CMakeCache.txt
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CPack*
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CTest*
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cmake*.cmake
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Makefile
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_CPack*
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# Log files
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*.log
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box_mb

‎CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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project(grasp_learning)
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# Check for c++11 support
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INCLUDE(CheckCXXCompilerFlag)#modulo del compilatore
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CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)#se è supportato
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CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
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IF(COMPILER_SUPPORTS_CXX11)
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")#aggiunge la macro alla compilazione
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ELSEIF(COMPILER_SUPPORTS_CXX0X)
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
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ELSE()
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MESSAGE(ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")#l'ERROR fa Piantare il cmake
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ENDIF()
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# Set optimized building:
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IF(CMAKE_COMPILER_IS_GNUCXX AND NOT CMAKE_BUILD_TYPE MATCHES "Debug")
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3")
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ENDIF(CMAKE_COMPILER_IS_GNUCXX AND NOT CMAKE_BUILD_TYPE MATCHES "Debug")
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find_package(orocos_kdl REQUIRED)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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rospy
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roslib
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sensor_msgs
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std_msgs
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urdf
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kdl_conversions
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kdl_parser
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visualization_msgs
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rviz_visual_tools
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rviz
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eigen_conversions
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message_generation
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)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a run_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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add_message_files(
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FILES
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box_dimension.msg
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)
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## Generate services in the 'srv' folder
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add_service_files(
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FILES
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)
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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generate_messages(
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DEPENDENCIES
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std_msgs
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)
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
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## * In this file (CMakeLists.txt):
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## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if you package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES stima
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CATKIN_DEPENDS roscpp rospy sensor_msgs std_msgs message_runtime
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# DEPENDS system_lib
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DEPENDS orocos_kdl
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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# include_directories(include)
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include_directories(
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${catkin_INCLUDE_DIRS}
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${orocos_kdl_INCLUDE_DIRS}
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include
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)
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link_directories(${orocos_kdl_LIBRARY_DIRS})
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## Declare a C++ library
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# add_library(stima
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# src/${PROJECT_NAME}/stima.cpp
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# )
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## Add cmake target dependencies of the library
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## as an example, code may need to be generated before libraries
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## either from message generation or dynamic reconfigure
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# add_dependencies(stima ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Declare a C++ executable
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add_executable(random_box_discrete_ src/Random_box_.cpp)
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target_link_libraries (random_box_discrete_ ${catkin_LIBRARIES} ${Eigen_LIBRARIES})
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add_executable(jacobian_urdf_model_ src/jacobian_urdf_model_.cpp)
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target_link_libraries (jacobian_urdf_model_ ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})
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add_executable(grasp_quality_ src/grasp_quality_.cpp)
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target_link_libraries (grasp_quality_ ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})
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add_executable(grasp_quality_2 src/grasp_quality_2.cpp)
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target_link_libraries (grasp_quality_2 ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})
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add_executable(grasp_quality_measure_PCR_PGR src/grasp_quality_measure_PCR_PGR.cpp)
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target_link_libraries (grasp_quality_measure_PCR_PGR ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})
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add_executable(index_quality_PCR_PGR src/index_quality_PCR_PGR.cpp)
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target_link_libraries (index_quality_PCR_PGR ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})
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add_executable(PGR_3 src/PGR_3.cpp)
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target_link_libraries(PGR_3 ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})
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add_executable(PGR_4 src/PGR_4.cpp)
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target_link_libraries(PGR_4 ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})
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add_executable(PGR_5 src/PGR_5.cpp)
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target_link_libraries(PGR_5 ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})
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add_executable(svm src/svm.cpp)
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target_link_libraries(svm ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})
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add_executable(show_Rviz src/show_Rviz.cpp)
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target_link_libraries(show_Rviz ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})
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add_executable(collision_avoidance src/collision_avoidance.cpp)
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target_link_libraries(collision_avoidance ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})
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add_executable(test_show_hand_point src/test_show_hand_point.cpp)
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target_link_libraries(test_show_hand_point ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})
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add_executable(test_show_on_Rviz_box src/test_show_on_Rviz_box.cpp)
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target_link_libraries(test_show_on_Rviz_box ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})
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add_executable(populate_grasp_dataset src/populate_grasp_dataset.cpp)
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target_link_libraries(populate_grasp_dataset ${catkin_LIBRARIES} ${Eigen_LIBRARIES} )
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# add_executable(comunication_vision src/comunication_vision.cpp)
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# target_link_libraries(comunication_vision ${catkin_LIBRARIES})
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add_executable(comunication_robot src/comunication_robot.cpp)
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target_link_libraries(comunication_robot ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})
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add_executable(discrete_angle src/discrete_angle.cpp)
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target_link_libraries(discrete_angle ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})
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add_executable(test_file_2_fingers src/test_file_2_fingers.cpp)
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target_link_libraries(test_file_2_fingers ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})
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add_executable(test_file_4_fingers src/test_file_4_fingers.cpp)
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target_link_libraries(test_file_4_fingers ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})
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add_executable(test_file_6_fingers src/test_file_6_fingers.cpp)
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target_link_libraries(test_file_6_fingers ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})
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add_executable(media_varianza src/media_varianza.cpp)
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target_link_libraries(media_varianza ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})
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add_executable(filter_database_nan src/filter_database_nan.cpp)
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target_link_libraries(filter_database_nan ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})
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add_executable(box_poses src/box_poses.cpp)
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target_link_libraries(box_poses ${catkin_LIBRARIES} ${Eigen_LIBRARIES})
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add_executable(grasp_quality_ROA src/grasp_quality_ROA.cpp)
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target_link_libraries(grasp_quality_ROA ${catkin_LIBRARIES} ${Eigen_LIBRARIES})
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## Add cmake target dependencies of the executable
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## same as for the library above
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# add_dependencies(stima_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Specify libraries to link a library or executable target against
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# target_link_libraries(stima_node
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# ${catkin_LIBRARIES}
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# )
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables and/or libraries for installation
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# install(TARGETS stima stima_node
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_stima.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)

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