#include <approach_lift_grasp.h>
Public Member Functions | |
| GraspPerformer () | |
| virtual void | performGrasps (const object_manipulation_msgs::PickupGoal &pickup_goal, const std::vector< object_manipulation_msgs::Grasp > &grasps, std::vector< GraspExecutionInfo > &execution_info) |
| Attempts to perform a set of grasps. | |
| object_manipulation_msgs::GraspResult | Result (int result_code, bool continuation) |
| Helper function for convenience. | |
| void | setFeedbackFunction (boost::function< void(size_t)> f) |
| Sets the feedback function. | |
| void | setInterruptFunction (boost::function< bool()> f) |
| Sets the interrupt function. | |
| void | setMarkerPublisher (GraspMarkerPublisher *pub) |
| Sets the marker publisher to be used. | |
Protected Member Functions | |
| virtual void | performGrasp (const object_manipulation_msgs::PickupGoal &pickup_goal, const object_manipulation_msgs::Grasp &grasp, GraspExecutionInfo &execution_info)=0 |
| Attempts to perform a single grasp. | |
Protected Attributes | |
| boost::function< void(size_t)> | feedback_function_ |
| boost::function< bool()> | interrupt_function_ |
| Function used to check for interrupts. | |
| GraspMarkerPublisher * | marker_publisher_ |
| The marker publisher that will be used; NULL is marker publishing is disabled. | |
Attempts to physically perform grasps, given the test results and information generated by a grasp tester.
Definition at line 107 of file approach_lift_grasp.h.
| object_manipulator::GraspPerformer::GraspPerformer | ( | ) | [inline] |
Definition at line 124 of file approach_lift_grasp.h.
| virtual void object_manipulator::GraspPerformer::performGrasp | ( | const object_manipulation_msgs::PickupGoal & | pickup_goal, | |
| const object_manipulation_msgs::Grasp & | grasp, | |||
| GraspExecutionInfo & | execution_info | |||
| ) | [protected, pure virtual] |
Attempts to perform a single grasp.
Implemented in object_manipulator::StandardGraspPerformer.
| void object_manipulator::GraspPerformer::performGrasps | ( | const object_manipulation_msgs::PickupGoal & | pickup_goal, | |
| const std::vector< object_manipulation_msgs::Grasp > & | grasps, | |||
| std::vector< GraspExecutionInfo > & | execution_info | |||
| ) | [virtual] |
Attempts to perform a set of grasps.
Definition at line 77 of file approach_lift_grasp.cpp.
| object_manipulation_msgs::GraspResult object_manipulator::GraspPerformer::Result | ( | int | result_code, | |
| bool | continuation | |||
| ) | [inline] |
Helper function for convenience.
Definition at line 141 of file approach_lift_grasp.h.
| void object_manipulator::GraspPerformer::setFeedbackFunction | ( | boost::function< void(size_t)> | f | ) | [inline] |
Sets the feedback function.
Definition at line 135 of file approach_lift_grasp.h.
| void object_manipulator::GraspPerformer::setInterruptFunction | ( | boost::function< bool()> | f | ) | [inline] |
Sets the interrupt function.
Definition at line 138 of file approach_lift_grasp.h.
| void object_manipulator::GraspPerformer::setMarkerPublisher | ( | GraspMarkerPublisher * | pub | ) | [inline] |
Sets the marker publisher to be used.
Definition at line 132 of file approach_lift_grasp.h.
boost::function<void(size_t)> object_manipulator::GraspPerformer::feedback_function_ [protected] |
Function used to provide feedback on which grasp is being tested Might find a more elegant mechanism in the future
Definition at line 119 of file approach_lift_grasp.h.
boost::function<bool()> object_manipulator::GraspPerformer::interrupt_function_ [protected] |
Function used to check for interrupts.
Definition at line 122 of file approach_lift_grasp.h.
The marker publisher that will be used; NULL is marker publishing is disabled.
Definition at line 115 of file approach_lift_grasp.h.
