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object_manipulator::GraspTesterWithApproach Class Reference

#include <approach_lift_grasp.h>

Inheritance diagram for object_manipulator::GraspTesterWithApproach:
Inheritance graph
[legend]

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.

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.


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.


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.


The documentation for this class was generated from the following files:
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object_manipulator
Author(s): Matei Ciocarlie and Kaijen Hsiao
autogenerated on Fri Mar 1 18:35:36 2013