object_manipulator::GraspTester Class Reference

#include <approach_lift_grasp.h>

Inheritance diagram for object_manipulator::GraspTester:

[legend]

List of all members.

Public Member Functions
	GraspTester ()
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.
virtual void	testGrasps (const object_manipulation_msgs::PickupGoal &pickup_goal, const std::vector< object_manipulation_msgs::Grasp > &grasps, std::vector< GraspExecutionInfo > &execution_info, bool return_on_first_hit)
	Tests a set of grasps and provides their execution info.
Protected Member Functions
virtual void	testGrasp (const object_manipulation_msgs::PickupGoal &pickup_goal, const object_manipulation_msgs::Grasp &grasp, GraspExecutionInfo &execution_info)=0
	Tests 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.

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Detailed Description

Tests grasps for feasibility in the current environment, and generates info needed for execution

Definition at line 61 of file approach_lift_grasp.h.

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Constructor & Destructor Documentation

object_manipulator::GraspTester::GraspTester

(

)

[inline]

Definition at line 78 of file approach_lift_grasp.h.

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Member Function Documentation

object_manipulation_msgs::GraspResult object_manipulator::GraspTester::Result	(	int	result_code,
		bool	continuation
	)			[inline]

Helper function for convenience.

Definition at line 96 of file approach_lift_grasp.h.

void object_manipulator::GraspTester::setFeedbackFunction

(

boost::function< void(size_t)>

f

)

[inline]

Sets the feedback function.

Definition at line 90 of file approach_lift_grasp.h.

void object_manipulator::GraspTester::setInterruptFunction

(

boost::function< bool()>

f

)

[inline]

Sets the interrupt function.

Definition at line 93 of file approach_lift_grasp.h.

void object_manipulator::GraspTester::setMarkerPublisher

(

GraspMarkerPublisher *

pub

)

[inline]

Sets the marker publisher to be used.

Definition at line 87 of file approach_lift_grasp.h.

virtual void object_manipulator::GraspTester::testGrasp	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		const object_manipulation_msgs::Grasp &	grasp,
		GraspExecutionInfo &	execution_info
	)			[protected, pure virtual]

Tests a single grasp.

Implemented in object_manipulator::GraspTesterWithApproach.

void object_manipulator::GraspTester::testGrasps	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		const std::vector< object_manipulation_msgs::Grasp > &	grasps,
		std::vector< GraspExecutionInfo > &	execution_info,
		bool	return_on_first_hit
	)			[virtual]

Tests a set of grasps and provides their execution info.

Definition at line 51 of file approach_lift_grasp.cpp.

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Member Data Documentation

boost::function<void(size_t)> object_manipulator::GraspTester::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 73 of file approach_lift_grasp.h.

boost::function<bool()> object_manipulator::GraspTester::interrupt_function_ [protected]

Function used to check for interrupts.

Definition at line 76 of file approach_lift_grasp.h.

GraspMarkerPublisher* object_manipulator::GraspTester::marker_publisher_ [protected]

The marker publisher that will be used; NULL is marker publishing is disabled.

Definition at line 69 of file approach_lift_grasp.h.

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The documentation for this class was generated from the following files:

• approach_lift_grasp.h
• approach_lift_grasp.cpp