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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #include <dbase_grasp_planner/velo_grasp_planning_task.h> 00036 00037 #include "robot.h" 00038 #include "EGPlanner/searchState.h" 00039 #include "EGPlanner/loopPlanner.h" 00040 #include "debug.h" 00041 00042 namespace dbase_grasp_planner { 00043 00044 VeloGraspPlanningTask::VeloGraspPlanningTask(graspit_dbase_tasks::DBTaskDispatcher *disp, 00045 db_planner::DatabaseManager *mgr, 00046 db_planner::TaskRecord rec) : GraspPlanningTask(disp, mgr, rec) {} 00047 00048 void VeloGraspPlanningTask::start() 00049 { 00050 GraspPlanningTask::start(); 00051 if (mStatus == RUNNING) { 00052 static_cast<LoopPlanner*>(mPlanner)->setSaveThreshold(6.0); 00053 } 00054 } 00055 00056 bool VeloGraspPlanningTask::setPreGrasp(const GraspPlanningState *graspState) 00057 { 00058 //go back 10cm 00059 double RETREAT_BY = -100; 00060 00061 //place the mHand in position 00062 graspState->execute(); 00063 00064 //go to Velo open pose 00065 std::vector<double> dof(mHand->getNumDOF(),0.0); 00066 dof[0] = dof[2] = 20.0 * M_PI / 180.0; 00067 dof[1] = dof[3] = -20.0 * M_PI / 180.0; 00068 std::vector<double> stepSize(mHand->getNumDOF(), M_PI/36.0); 00069 mHand->moveDOFToContacts(&dof[0], &stepSize[0], true, false); 00070 00071 //check if move has succeeded 00072 for (int d=0; d<mHand->getNumDOF(); d++) { 00073 if ( fabs( dof[d] - mHand->getDOF(d)->getVal() ) > 1.0e-5) { 00074 DBGP(" Velo trying to open to " << dof[d] << "; only made it to " << mHand->getDOF(d)->getVal()); 00075 DBGA(" open Velo fails"); 00076 return false; 00077 } 00078 } 00079 00080 //retreat along approach direction 00081 if (mHand->approachToContact(RETREAT_BY, false)) { 00082 //we have hit something 00083 DBGA(" retreat fails"); 00084 return false; 00085 } 00086 00087 return true; 00088 } 00089 00090 } 00091 00092