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Public Member Functions | |
def | __init__ |
def | add_collision_box |
adds a single box to the map | |
def | attach_object_to_gripper |
attaches an object to the gripper for the purposes of collision-aware motion planning | |
def | clear_octomap |
clear everything in the octomap | |
def | detach_all_objects_from_gripper |
detaches all objects from the gripper (removes from collision space entirely) | |
def | detach_and_add_back_objects_attached_to_gripper |
detaches all objects from the gripper (adds back as objects in the collision space where they are now) object_collision_name is the original name for the collision object | |
def | get_next_object_name |
return the next unique collision object name | |
def | mat_to_pose |
def | pose_to_mat |
convert a Pose message to a 4x4 scipy matrix | |
def | process_collision_geometry_for_cluster |
adds a cluster to the map as a bunch of small boxes | |
def | process_collision_geometry_for_table |
def | remove_collision_object |
remove a single collision object from the map | |
def | reset_collision_map |
reset all the current collision objects | |
def | set_planning_scene |
set the planning scene (so IK and move_arm can run) | |
Public Attributes | |
attached_object_pub | |
object_in_map_current_id | |
object_in_map_pub | |
reset_collision_map_srv | |
set_planning_scene_srv |
Definition at line 58 of file collision_map_interface.py.
def tabletop_collision_map_processing::collision_map_interface::CollisionMapInterface::__init__ | ( | self | ) |
Definition at line 60 of file collision_map_interface.py.
def tabletop_collision_map_processing::collision_map_interface::CollisionMapInterface::add_collision_box | ( | self, | ||
box_pose, | ||||
box_dims, | ||||
frame_id, | ||||
collision_name | ||||
) |
adds a single box to the map
Definition at line 237 of file collision_map_interface.py.
def tabletop_collision_map_processing::collision_map_interface::CollisionMapInterface::attach_object_to_gripper | ( | self, | ||
object_name, | ||||
whicharm = 'r' | ||||
) |
attaches an object to the gripper for the purposes of collision-aware motion planning
Definition at line 128 of file collision_map_interface.py.
def tabletop_collision_map_processing::collision_map_interface::CollisionMapInterface::clear_octomap | ( | self | ) |
clear everything in the octomap
Definition at line 96 of file collision_map_interface.py.
def tabletop_collision_map_processing::collision_map_interface::CollisionMapInterface::detach_all_objects_from_gripper | ( | self, | ||
whicharm = 'r' | ||||
) |
detaches all objects from the gripper (removes from collision space entirely)
Definition at line 144 of file collision_map_interface.py.
def tabletop_collision_map_processing::collision_map_interface::CollisionMapInterface::detach_and_add_back_objects_attached_to_gripper | ( | self, | ||
whicharm = 'r' , |
||||
object_collision_name = None | ||||
) |
detaches all objects from the gripper (adds back as objects in the collision space where they are now) object_collision_name is the original name for the collision object
Definition at line 158 of file collision_map_interface.py.
def tabletop_collision_map_processing::collision_map_interface::CollisionMapInterface::get_next_object_name | ( | self | ) |
return the next unique collision object name
Definition at line 230 of file collision_map_interface.py.
def tabletop_collision_map_processing::collision_map_interface::CollisionMapInterface::mat_to_pose | ( | self, | ||
mat | ||||
) |
Definition at line 186 of file collision_map_interface.py.
def tabletop_collision_map_processing::collision_map_interface::CollisionMapInterface::pose_to_mat | ( | self, | ||
pose | ||||
) |
convert a Pose message to a 4x4 scipy matrix
Definition at line 177 of file collision_map_interface.py.
def tabletop_collision_map_processing::collision_map_interface::CollisionMapInterface::process_collision_geometry_for_cluster | ( | self, | ||
cluster | ||||
) |
adds a cluster to the map as a bunch of small boxes
Definition at line 254 of file collision_map_interface.py.
def tabletop_collision_map_processing::collision_map_interface::CollisionMapInterface::process_collision_geometry_for_table | ( | self, | ||
firsttable, | ||||
additional_tables = [] | ||||
) |
Definition at line 200 of file collision_map_interface.py.
def tabletop_collision_map_processing::collision_map_interface::CollisionMapInterface::remove_collision_object | ( | self, | ||
collision_name | ||||
) |
remove a single collision object from the map
Definition at line 286 of file collision_map_interface.py.
def tabletop_collision_map_processing::collision_map_interface::CollisionMapInterface::reset_collision_map | ( | self | ) |
reset all the current collision objects
Definition at line 101 of file collision_map_interface.py.
def tabletop_collision_map_processing::collision_map_interface::CollisionMapInterface::set_planning_scene | ( | self, | ||
ordered_collision_ops = None , |
||||
link_padding = None | ||||
) |
set the planning scene (so IK and move_arm can run)
Definition at line 81 of file collision_map_interface.py.
Definition at line 65 of file collision_map_interface.py.
Definition at line 76 of file collision_map_interface.py.
tabletop_collision_map_processing::collision_map_interface::CollisionMapInterface::object_in_map_pub |
Definition at line 64 of file collision_map_interface.py.
Definition at line 70 of file collision_map_interface.py.
Definition at line 74 of file collision_map_interface.py.