pr2_interactive_manipulation::InteractiveManipulationBackend Class Reference

#include <interactive_manipulation_backend.h>

Classes
struct	GraspInfo
Public Member Functions
	InteractiveManipulationBackend ()
	~InteractiveManipulationBackend ()
Private Member Functions
void	actionCallback (const IMGUIGoalConstPtr &goal)
void	armMotion (int arm_selection_choice, int arm_action_choice, int arm_planner_choice, bool collision, object_manipulation_msgs::ManipulationResult &result)
int	callGripperClickPickup (std::string arm_name, std::vector< object_manipulation_msgs::Grasp > &grasps)
void	collisionReset (int reset_choice)
GraspInfo *	getGraspInfo (std::string arm_name)
void	graspableObjectsCallback (const pr2_interactive_object_detection::GraspableObjectListConstPtr &objects)
bool	interruptRequested ()
void	lookAtTable ()
int	modelObject (IMGUIOptions options)
void	moveGripper (IMGUIOptions options)
int	pickupObject (const IMGUIOptions &options, object_manipulation_msgs::GraspableObject object=object_manipulation_msgs::GraspableObject())
int	placeObject (const IMGUIOptions &options)
bool	processCollisionMapForPickup (const IMGUIOptions &options, object_manipulation_msgs::PickupGoal &goal)
void	setStatusLabel (std::string text)
void	takeMap ()
Private Attributes
std::string	action_name_
actionlib::SimpleActionServer < IMGUIAction > *	action_server_
tabletop_collision_map_processing::CollisionMapInterface	collision_map_interface_
std::string	create_model_action_name_
actionlib::SimpleActionClient < pr2_create_object_model::ModelObjectInHandAction > *	create_model_client_
ros::ServiceClient	get_model_description_srv_
GraspInfo	grasp_info_left_
GraspInfo	grasp_info_right_
std::string	grasp_planning_service_name_
ros::ServiceClient	grasp_planning_srv_
std::vector < object_manipulation_msgs::GraspableObject >	graspable_objects_
ros::Subscriber	graspable_objects_sub_
GripperController	gripper_controller_
object_manipulator::MechanismInterface	mech_interface_
bool	new_object_list_
sensor_msgs::PointCloud2	object_model_left_
sensor_msgs::PointCloud2	object_model_right_
std::string	pickup_action_name_
actionlib::SimpleActionClient < object_manipulation_msgs::PickupAction > *	pickup_client_
std::string	place_action_name_
actionlib::SimpleActionClient < object_manipulation_msgs::PlaceAction > *	place_client_
std::string	place_planning_service_name_
ros::ServiceClient	place_planning_srv_
ros::NodeHandle	priv_nh_
pr2_interactive_object_detection::GraspableObjectListConstPtr	received_objects_
boost::mutex	received_objects_mutex_
ros::NodeHandle	root_nh_

Detailed Description

Definition at line 52 of file interactive_manipulation_backend.h.

Constructor & Destructor Documentation

pr2_interactive_manipulation::InteractiveManipulationBackend::InteractiveManipulationBackend ( )

Definition at line 120 of file interactive_manipulation_backend.cpp.

pr2_interactive_manipulation::InteractiveManipulationBackend::~InteractiveManipulationBackend ( )

Definition at line 157 of file interactive_manipulation_backend.cpp.

Member Function Documentation

void pr2_interactive_manipulation::InteractiveManipulationBackend::actionCallback ( const IMGUIGoalConstPtr & goal ) [private]

Definition at line 162 of file interactive_manipulation_backend.cpp.

void pr2_interactive_manipulation::InteractiveManipulationBackend::armMotion	(	int	arm_selection_choice,
		int	arm_action_choice,
		int	arm_planner_choice,
		bool	collision,
		object_manipulation_msgs::ManipulationResult &	result
	)			`[private]`

int pr2_interactive_manipulation::InteractiveManipulationBackend::callGripperClickPickup	(	std::string	arm_name,
		std::vector< object_manipulation_msgs::Grasp > &	grasps
	)			`[private]`

Definition at line 897 of file interactive_manipulation_backend.cpp.

void pr2_interactive_manipulation::InteractiveManipulationBackend::collisionReset ( int reset_choice ) [private]

Definition at line 616 of file interactive_manipulation_backend.cpp.

GraspInfo* pr2_interactive_manipulation::InteractiveManipulationBackend::getGraspInfo ( std::string arm_name ) [inline, private]

Definition at line 98 of file interactive_manipulation_backend.h.

void pr2_interactive_manipulation::InteractiveManipulationBackend::graspableObjectsCallback ( const pr2_interactive_object_detection::GraspableObjectListConstPtr & objects ) [private]

Definition at line 213 of file interactive_manipulation_backend.cpp.

bool pr2_interactive_manipulation::InteractiveManipulationBackend::interruptRequested ( ) [private]

Definition at line 231 of file interactive_manipulation_backend.cpp.

void pr2_interactive_manipulation::InteractiveManipulationBackend::lookAtTable ( ) [private]

Definition at line 779 of file interactive_manipulation_backend.cpp.

int pr2_interactive_manipulation::InteractiveManipulationBackend::modelObject ( IMGUIOptions options ) [private]

Definition at line 817 of file interactive_manipulation_backend.cpp.

void pr2_interactive_manipulation::InteractiveManipulationBackend::moveGripper ( IMGUIOptions options ) [private]

Definition at line 804 of file interactive_manipulation_backend.cpp.

int pr2_interactive_manipulation::InteractiveManipulationBackend::pickupObject	(	const IMGUIOptions &	options,
		object_manipulation_msgs::GraspableObject	object = `object_manipulation_msgs::GraspableObject()`
	)			`[private]`

Definition at line 325 of file interactive_manipulation_backend.cpp.

int pr2_interactive_manipulation::InteractiveManipulationBackend::placeObject ( const IMGUIOptions & options ) [private]

Definition at line 456 of file interactive_manipulation_backend.cpp.

bool pr2_interactive_manipulation::InteractiveManipulationBackend::processCollisionMapForPickup	(	const IMGUIOptions &	options,
		object_manipulation_msgs::PickupGoal &	goal
	)			`[private]`