probabilistic_grasp_planner::ClusterPlannerGraspRetriever Class Reference

#include <grasp_retriever.h>

Inheritance diagram for probabilistic_grasp_planner::ClusterPlannerGraspRetriever:

Public Member Functions
	ClusterPlannerGraspRetriever (ros::NodeHandle &nh, const std::string &cluster_planner_name, const object_manipulation_msgs::GraspableObject &graspable_object, const std::string &arm_name)
virtual void	getGrasps (std::vector< GraspWithMetadata > &grasps)
Protected Member Functions
void	appendGraspsFromClusterPlanner (std::vector< GraspWithMetadata > &grasps)
virtual void	fetchFromPlanner (const object_manipulation_msgs::GraspableObject &graspable_object)
Private Attributes
sensor_msgs::PointCloud	cloud_
ros::ServiceClient	cluster_planner_srv_
std::vector < object_manipulation_msgs::Grasp >	grasps_from_cluster_planner_
tf::TransformBroadcaster	tf_broadcaster

Detailed Description

Definition at line 202 of file grasp_retriever.h.

Constructor & Destructor Documentation

probabilistic_grasp_planner::ClusterPlannerGraspRetriever::ClusterPlannerGraspRetriever	(	ros::NodeHandle &	nh,
		const std::string &	cluster_planner_name,
		const object_manipulation_msgs::GraspableObject &	graspable_object,
		const std::string &	arm_name
	)

Definition at line 342 of file grasp_retriever.cpp.

Member Function Documentation

void probabilistic_grasp_planner::ClusterPlannerGraspRetriever::appendGraspsFromClusterPlanner ( std::vector< GraspWithMetadata > & grasps ) [protected]

The "tool point" is roughly in the middle of the object enclosed by the grasp, so roughly 13cm from wrist

Definition at line 376 of file grasp_retriever.cpp.

void probabilistic_grasp_planner::ClusterPlannerGraspRetriever::fetchFromPlanner ( const object_manipulation_msgs::GraspableObject & graspable_object ) [protected, virtual]

Note that this is leaving several of the grasp planning arguments empty. If the cluster planner changes this will need to change as well.

Definition at line 353 of file grasp_retriever.cpp.

void probabilistic_grasp_planner::ClusterPlannerGraspRetriever::getGrasps ( std::vector< GraspWithMetadata > & grasps ) [virtual]

Gets the grasps from both the underlying GraspRetriever and the cluster planner call

Add the grasps from the cluster planner

Implements probabilistic_grasp_planner::GraspRetriever.

Definition at line 369 of file grasp_retriever.cpp.