object_manipulator::SimpleGraspExecutor Class Reference

Simplest grasp executor, using only final grasp information. More...

#include <simple_grasp_executor.h>

Inheritance diagram for object_manipulator::SimpleGraspExecutor:

[legend]

List of all members.

Public Member Functions
	SimpleGraspExecutor (GraspMarkerPublisher *pub)
	Also adds a marker at the final grasp.
Private Member Functions
virtual object_manipulation_msgs::GraspResult	executeGrasp (const object_manipulation_msgs::PickupGoal &pickup_goal, const object_manipulation_msgs::Grasp &grasp)
	Sends the IK result of prepareGrasp() to move_arm, then executes lift trajectory.
virtual object_manipulation_msgs::GraspResult	prepareGrasp (const object_manipulation_msgs::PickupGoal &pickup_goal, const object_manipulation_msgs::Grasp &grasp)
	Calls IK on the final grasp pose.
Private Attributes
kinematics_msgs::GetConstraintAwarePositionIK::Response	ik_response_
	The inverse kinematics solution for the final grasp.

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Detailed Description

Simplest grasp executor, using only final grasp information.

The initial check consists of calling IK on the final grasp to see if a valid IK solution exists, then cheking interpolated IK to see if the object can be lifted. Execution then consists of passing along the IK solution to move_arm, followed by the lift trajectory.

Definition at line 49 of file simple_grasp_executor.h.

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Constructor & Destructor Documentation

object_manipulator::SimpleGraspExecutor::SimpleGraspExecutor

(

GraspMarkerPublisher *

pub

)

[inline]

Also adds a marker at the final grasp.

Definition at line 66 of file simple_grasp_executor.h.

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Member Function Documentation

GraspResult object_manipulator::SimpleGraspExecutor::executeGrasp	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		const object_manipulation_msgs::Grasp &	grasp
	)			[private, virtual]

Sends the IK result of prepareGrasp() to move_arm, then executes lift trajectory.

Implements object_manipulator::GraspExecutor.

Definition at line 76 of file simple_grasp_executor.cpp.

GraspResult object_manipulator::SimpleGraspExecutor::prepareGrasp	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		const object_manipulation_msgs::Grasp &	grasp
	)			[private, virtual]

Calls IK on the final grasp pose.

Implements object_manipulator::GraspExecutor.

Definition at line 44 of file simple_grasp_executor.cpp.

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Member Data Documentation

kinematics_msgs::GetConstraintAwarePositionIK::Response object_manipulator::SimpleGraspExecutor::ik_response_ [private]

The inverse kinematics solution for the final grasp.

Definition at line 53 of file simple_grasp_executor.h.

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The documentation for this class was generated from the following files:

• simple_grasp_executor.h
• simple_grasp_executor.cpp