object_manipulator::GraspTesterWithApproach Class Reference

#include <approach_lift_grasp.h>

Inheritance diagram for object_manipulator::GraspTesterWithApproach:

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List of all members.

Protected Member Functions
virtual arm_navigation_msgs::OrderedCollisionOperations	collisionOperationsForGrasp (const object_manipulation_msgs::PickupGoal &pickup_goal, const object_manipulation_msgs::Grasp &grasp)
	Collision operations to be used when planning the grasp motion.
virtual arm_navigation_msgs::OrderedCollisionOperations	collisionOperationsForLift (const object_manipulation_msgs::PickupGoal &pickup_goal, const object_manipulation_msgs::Grasp &grasp)
	Collision operations to be used when planning the lift motion.
object_manipulation_msgs::GraspResult	getInterpolatedIKForGrasp (const object_manipulation_msgs::PickupGoal &pickup_goal, const object_manipulation_msgs::Grasp &grasp, GraspExecutionInfo &execution_info)
	Computes an interpolated IK trajectory between pre_grasp and grasp and checks if it has enough points.
object_manipulation_msgs::GraspResult	getInterpolatedIKForLift (const object_manipulation_msgs::PickupGoal &pickup_goal, const object_manipulation_msgs::Grasp &grasp, const std::vector< double > &grasp_joint_angles, GraspExecutionInfo &execution_info)
	Calls the interpolated IK service to find a path from the grasp to lift the object.
virtual std::vector < arm_navigation_msgs::LinkPadding >	linkPaddingForGrasp (const object_manipulation_msgs::PickupGoal &pickup_goal, const object_manipulation_msgs::Grasp &grasp)
	Dynamic link padding to be used for grasp operation.
virtual std::vector < arm_navigation_msgs::LinkPadding >	linkPaddingForLift (const object_manipulation_msgs::PickupGoal &pickup_goal, const object_manipulation_msgs::Grasp &grasp)
	Dynamic link padding to be used when planning the lift motion.
virtual void	testGrasp (const object_manipulation_msgs::PickupGoal &pickup_goal, const object_manipulation_msgs::Grasp &grasp, GraspExecutionInfo &execution_info)
	Tests a single grasp.
Static Protected Attributes
static float	EPS = 1.0e-6
	Epsilon margin of error used when checking trajectory lengths.

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Detailed Description

Standard grasp tester, attempts to compute Interpolated IK trajectories for both approach and lift.

Definition at line 154 of file approach_lift_grasp.h.

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Member Function Documentation

arm_navigation_msgs::OrderedCollisionOperations object_manipulator::GraspTesterWithApproach::collisionOperationsForGrasp	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		const object_manipulation_msgs::Grasp &	grasp
	)			[protected, virtual]

Collision operations to be used when planning the grasp motion.

Disable collisions between end-effector and target Disables ALL collisions on moved obstacles

Reimplemented in object_manipulator::UnsafeGraspTester.

Definition at line 196 of file approach_lift_grasp.cpp.

arm_navigation_msgs::OrderedCollisionOperations object_manipulator::GraspTesterWithApproach::collisionOperationsForLift	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		const object_manipulation_msgs::Grasp &	grasp
	)			[protected, virtual]

Collision operations to be used when planning the lift motion.

Disables collision between gripper and target Disables ALL collisions on moved obstacles

Reimplemented in object_manipulator::UnsafeGraspTester.

Definition at line 100 of file approach_lift_grasp.cpp.

GraspResult object_manipulator::GraspTesterWithApproach::getInterpolatedIKForGrasp	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		const object_manipulation_msgs::Grasp &	grasp,
		GraspExecutionInfo &	execution_info
	)			[protected]

Computes an interpolated IK trajectory between pre_grasp and grasp and checks if it has enough points.

Definition at line 250 of file approach_lift_grasp.cpp.

GraspResult object_manipulator::GraspTesterWithApproach::getInterpolatedIKForLift	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		const object_manipulation_msgs::Grasp &	grasp,
		const std::vector< double > &	grasp_joint_angles,
		GraspExecutionInfo &	execution_info
	)			[protected]

Calls the interpolated IK service to find a path from the grasp to lift the object.

Definition at line 146 of file approach_lift_grasp.cpp.

std::vector< arm_navigation_msgs::LinkPadding > object_manipulator::GraspTesterWithApproach::linkPaddingForGrasp	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		const object_manipulation_msgs::Grasp &	grasp
	)			[protected, virtual]

Dynamic link padding to be used for grasp operation.

Zero padding on gripper links

Definition at line 242 of file approach_lift_grasp.cpp.

std::vector< arm_navigation_msgs::LinkPadding > object_manipulator::GraspTesterWithApproach::linkPaddingForLift	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		const object_manipulation_msgs::Grasp &	grasp
	)			[protected, virtual]

Dynamic link padding to be used when planning the lift motion.

Zero padding on gripper

Definition at line 138 of file approach_lift_grasp.cpp.

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

Tests a single grasp.

Implements object_manipulator::GraspTester.

Definition at line 305 of file approach_lift_grasp.cpp.

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Member Data Documentation

float object_manipulator::GraspTesterWithApproach::EPS = 1.0e-6 [static, protected]

Epsilon margin of error used when checking trajectory lengths.

One thousandth of a mm.

Definition at line 195 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