grasp_executor_with_approach.h
Go to the documentation of this file.00001 /********************************************************************* 00002 * 00003 * Copyright (c) 2009, Willow Garage, Inc. 00004 * All rights reserved. 00005 * 00006 * Redistribution and use in source and binary forms, with or without 00007 * modification, are permitted provided that the following conditions 00008 * are met: 00009 * 00010 * * Redistributions of source code must retain the above copyright 00011 * notice, this list of conditions and the following disclaimer. 00012 * * Redistributions in binary form must reproduce the above 00013 * copyright notice, this list of conditions and the following 00014 * disclaimer in the documentation and/or other materials provided 00015 * with the distribution. 00016 * * Neither the name of the Willow Garage nor the names of its 00017 * contributors may be used to endorse or promote products derived 00018 * from this software without specific prior written permission. 00019 * 00020 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00021 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00022 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00023 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00024 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00025 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00026 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00027 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00028 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00029 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00030 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00031 * POSSIBILITY OF SUCH DAMAGE. 00032 *********************************************************************/ 00033 00034 // Author(s): Matei Ciocarlie 00035 00036 #ifndef _GRASP_EXECUTOR_WITH_APPROACH_ 00037 #define _GRASP_EXECUTOR_WITH_APPROACH_ 00038 00039 #include "object_manipulator/grasp_execution/grasp_executor.h" 00040 00041 namespace object_manipulator { 00042 00044 00061 class GraspExecutorWithApproach : public GraspExecutor 00062 { 00063 protected: 00065 trajectory_msgs::JointTrajectory interpolated_grasp_trajectory_; 00066 00068 object_manipulation_msgs::GraspResult 00069 getInterpolatedIKForGrasp(const object_manipulation_msgs::PickupGoal &pickup_goal, 00070 const object_manipulation_msgs::Grasp &grasp, 00071 trajectory_msgs::JointTrajectory &grasp_trajectory); 00072 00074 virtual arm_navigation_msgs::OrderedCollisionOperations 00075 collisionOperationsForGrasp(const object_manipulation_msgs::PickupGoal &pickup_goal); 00076 00078 virtual std::vector<arm_navigation_msgs::LinkPadding> 00079 linkPaddingForGrasp(const object_manipulation_msgs::PickupGoal &pickup_goal); 00080 00082 virtual object_manipulation_msgs::GraspResult 00083 prepareGrasp(const object_manipulation_msgs::PickupGoal &pickup_goal, 00084 const object_manipulation_msgs::Grasp &grasp); 00085 00087 virtual object_manipulation_msgs::GraspResult 00088 executeGrasp(const object_manipulation_msgs::PickupGoal &pickup_goal, 00089 const object_manipulation_msgs::Grasp &grasp); 00090 00091 public: 00093 GraspExecutorWithApproach(GraspMarkerPublisher *pub) : GraspExecutor(pub) {} 00094 00096 virtual object_manipulation_msgs::GraspResult 00097 retreat(const object_manipulation_msgs::PickupGoal &pickup_goal, 00098 const object_manipulation_msgs::Grasp &grasp); 00099 }; 00100 00101 } //namespace grasp_execution 00102 00103 #endif