bayesian_grasp_planner::BayesianGraspPlanner Class Reference

#include <bayesian_grasp_planner.h>

Public Member Functions
	BayesianGraspPlanner (household_objects_database::ObjectsDatabasePtr database)
void	bayesianInference (std::vector< GraspWM > &grasps, const std::vector< object_manipulation_msgs::GraspableObject > &objects, const std::vector< boost::shared_ptr< ObjectDetector > > &object_detectors, const std::vector< boost::shared_ptr< GraspEvaluatorProb > > &prob_evaluators)
void	plan (const std::string &arm_name, const object_manipulation_msgs::GraspableObject &graspable_object, std::vector< object_manipulation_msgs::Grasp > &final_grasp_list)
Private Member Functions
void	appendMetadataToTestGrasps (std::vector< object_manipulation_msgs::Grasp > &input_list, std::vector< GraspWM > &output_list, const std::string frame_id)
void	clusterGrasps (std::vector< GraspWM > &input_list, std::vector< GraspWM > &cluster_rep_list)
void	createDatabaseObjectDetectors (const std::vector< object_manipulation_msgs::GraspableObject > &objects, std::vector< boost::shared_ptr< ObjectDetector > > &detectors)
void	createMutuallyExclusiveObjectRepresentations (const object_manipulation_msgs::GraspableObject &original_object, std::vector< object_manipulation_msgs::GraspableObject > &me_objects)
void	pruneGraspList (std::vector< GraspWM > &grasps, const double threshold)
void	visualizeGrasps (const std::vector< GraspWM > &grasps, object_manipulator::GraspMarkerPublisher *grasp_marker_pub, bool color_by_rank)
Private Attributes
household_objects_database::ObjectsDatabasePtr	database_
object_manipulator::GraspMarkerPublisher	debug_postprune_grasp_marker_publisher_
	GMP for grasps after pruning but before clustering.
object_manipulator::GraspMarkerPublisher	debug_preprune_grasp_marker_publisher_
	GMP for grasps before pruning.
object_manipulator::GraspMarkerPublisher	grasp_marker_publisher_
	GMP which shows the grasps returned by the planner, colored by probability.
ros::NodeHandle	nh_

Detailed Description

Definition at line 50 of file bayesian_grasp_planner.h.

Constructor & Destructor Documentation

bayesian_grasp_planner::BayesianGraspPlanner::BayesianGraspPlanner ( household_objects_database::ObjectsDatabasePtr database ) [inline]

Definition at line 91 of file bayesian_grasp_planner.h.

Member Function Documentation

void bayesian_grasp_planner::BayesianGraspPlanner::appendMetadataToTestGrasps	(	std::vector< object_manipulation_msgs::Grasp > &	input_list,
		std::vector< GraspWM > &	output_list,
		const std::string	frame_id
	)			`[private]`

The "tool point" is roughly in the middle of the object enclosed by the grasp, so roughly 13cm from wrist

Definition at line 466 of file bayesian_grasp_planner.cpp.

void bayesian_grasp_planner::BayesianGraspPlanner::bayesianInference	(	std::vector< GraspWM > &	grasps,
		const std::vector< object_manipulation_msgs::GraspableObject > &	objects,
		const std::vector< boost::shared_ptr< ObjectDetector > > &	object_detectors,
		const std::vector< boost::shared_ptr< GraspEvaluatorProb > > &	prob_evaluators
	)

Definition at line 46 of file bayesian_grasp_planner.cpp.

void bayesian_grasp_planner::BayesianGraspPlanner::clusterGrasps	(	std::vector< GraspWM > &	input_list,
		std::vector< GraspWM > &	cluster_rep_list
	)			`[private]`

TODO: this line adds non-cluster grasps to the result list so that we can see all grasps with cluster reps highlighted. Remove this to actually filter out non-cluster rep grasps.

Definition at line 499 of file bayesian_grasp_planner.cpp.

void bayesian_grasp_planner::BayesianGraspPlanner::createDatabaseObjectDetectors	(	const std::vector< object_manipulation_msgs::GraspableObject > &	objects,
		std::vector< boost::shared_ptr< ObjectDetector > > &	detectors
	)			`[private]`

Definition at line 442 of file bayesian_grasp_planner.cpp.

void bayesian_grasp_planner::BayesianGraspPlanner::createMutuallyExclusiveObjectRepresentations	(	const object_manipulation_msgs::GraspableObject &	original_object,
		std::vector< object_manipulation_msgs::GraspableObject > &	me_objects
	)			`[private]`

Definition at line 420 of file bayesian_grasp_planner.cpp.

void bayesian_grasp_planner::BayesianGraspPlanner::plan	(	const std::string &	arm_name,
		const object_manipulation_msgs::GraspableObject &	graspable_object,
		std::vector< object_manipulation_msgs::Grasp > &	final_grasp_list
	)

Definition at line 227 of file bayesian_grasp_planner.cpp.

void bayesian_grasp_planner::BayesianGraspPlanner::pruneGraspList	(	std::vector< GraspWM > &	grasps,
		const double	threshold
	)			`[private]`

Definition at line 542 of file bayesian_grasp_planner.cpp.

void bayesian_grasp_planner::BayesianGraspPlanner::visualizeGrasps	(	const std::vector< GraspWM > &	grasps,
		object_manipulator::GraspMarkerPublisher *	grasp_marker_pub,
		bool	color_by_rank
	)			`[private]`

Publishes the grasps to rviz with specific namespaces for grasps belonging to each different model, colored with green being the best grasp and red being the worst.

Definition at line 564 of file bayesian_grasp_planner.cpp.