simple_robot_control::Arm Class Reference

#include <arm_control.h>

Public Types
enum	approach_direction_t { FRONTAL, FROM_BELOW, FROM_ABOVE, FROM_RIGHT_SIDEWAYS, FROM_RIGHT_UPRIGHT, FROM_LEFT_UPRIGHT, FROM_LEFT_SIDEWAYS }
Public Member Functions
	Arm (char arm_side, bool collision_checking=true)
vector< double >	getCurrentJointAngles ()
bool	getIK (const geometry_msgs::PoseStamped &pose, vector< double > &joint_angles, vector< double > *ik_seed_pos=NULL)
bool	goToJointPos (const double *positions, int num_positions, double max_time=3.0, bool wait=true)
bool	goToJointPos (const vector< double > &positions, double max_time=3.0, bool wait=true)
bool	goToJointPosWithCollisionChecking (const vector< double > &positions, double max_time=3.0, bool wait=true)
bool	isAtPos (const std::vector< double > &pos_vec)
bool	moveGrippertoPose (const tf::StampedTransform &pose, double max_time=5.0, bool wait=true, vector< double > *ik_seed_pos=0)
bool	moveGrippertoPoseWithCollisionChecking (const tf::StampedTransform &pose, double max_time=5.0, bool wait=true, std::string planner="ompl")
bool	moveGrippertoPoseWithOrientationConstraints (const tf::StampedTransform &tf, bool keep_roll, bool keep_pitch, bool keep_yaw, double max_time=5.0, bool wait=true, double tolerance=0.2)
bool	moveGripperToPosition (const tf::Vector3 &position, string frame_id, approach_direction_t approach=FRONTAL, double max_time=5.0, bool wait=true, vector< double > *ik_seed_pos=0)
bool	moveGrippertoPositionWithCollisionChecking (const tf::Vector3 &position, string frame_id, approach_direction_t approach=FRONTAL, double max_time=5.0, bool wait=true, std::string planner="ompl")
bool	moveWristRollLinktoPose (const geometry_msgs::PoseStamped &pose, double max_time=5.0, bool wait=true, vector< double > *ik_seed_pos=0)
bool	moveWristRollLinktoPose (const tf::StampedTransform &pose, double max_time=5.0, bool wait=true, vector< double > *ik_seed_pos=0)
bool	moveWristRollLinktoPoseWithCollisionChecking (const tf::StampedTransform &pose, double max_time=5.0, bool wait=true, std::string planner="ompl")
bool	moveWristRollLinktoPoseWithCollisionChecking (const geometry_msgs::PoseStamped &pose, double max_time=5.0, bool wait=true, std::string planner="ompl")
bool	moveWristRollLinktoPoseWithOrientationConstraints (const geometry_msgs::PoseStamped &pose, bool keep_roll, bool keep_pitch, bool keep_yaw, double max_time=5.0, bool wait=true, double tolerance=0.2)
bool	moveWristRollLinktoPoseWithOrientationConstraints (const tf::StampedTransform &pose, bool keep_roll, bool keep_pitch, bool keep_yaw, double max_time=5.0, bool wait=true, double tolerance=0.2)
bool	rotateWrist (double radians, double wrist_speed=wrist_speed_, bool wait=true)
bool	stretch ()
bool	tuck ()
bool	updateJointStatePos ()
	~Arm ()
	Clean up the action client.
Private Member Functions
tf::StampedTransform	gripperToWrist (const tf::StampedTransform &pose)
tf::StampedTransform	makePose (const tf::Vector3 &position, string frame_id, approach_direction_t approach)
tf::StampedTransform	wristToGripper (const tf::StampedTransform &pose)
Private Attributes
string	armside_str
vector< double >	current_joint_angles_
string	group_name
ros::ServiceClient	ik_service_client_
vector< string >	joint_names
actionlib::SimpleActionClient < move_arm_msgs::MoveArmAction > *	move_arm_client_
ros::NodeHandle	nh_
actionlib::SimpleActionClient < pr2_controllers_msgs::JointTrajectoryAction >	traj_client_
Static Private Attributes
static const double	gripperlength = 0.18
static const double	wrist_speed_ = 2.0

Detailed Description

Definition at line 64 of file arm_control.h.

Member Enumeration Documentation

enum simple_robot_control::Arm::approach_direction_t

Enumerator:

FRONTAL
FROM_BELOW
FROM_ABOVE
FROM_RIGHT_SIDEWAYS
FROM_RIGHT_UPRIGHT
FROM_LEFT_UPRIGHT
FROM_LEFT_SIDEWAYS

Definition at line 133 of file arm_control.h.

Constructor & Destructor Documentation

simple_robot_control::Arm::Arm	(	char	arm_side,
		bool	collision_checking = `true`
	)

Constructor: arm_side should be either 'r' or 'l'; collision checking enables ompl planner

Definition at line 17 of file arm_control.cpp.

simple_robot_control::Arm::~Arm ( )

Clean up the action client.

Definition at line 76 of file arm_control.cpp.

Member Function Documentation

vector< double > simple_robot_control::Arm::getCurrentJointAngles ( )

get joint angles

Definition at line 211 of file arm_control.cpp.

bool simple_robot_control::Arm::getIK	(	const geometry_msgs::PoseStamped &	pose,
		vector< double > &	joint_angles,
		vector< double > *	ik_seed_pos = `NULL`
	)

get IK from kinematics server

Definition at line 216 of file arm_control.cpp.

bool simple_robot_control::Arm::goToJointPos	(	const double *	positions,
		int	num_positions,
		double	max_time = `3.0`,
		bool	wait = `true`
	)

moves arm to joint position. positions should contain a multiple of the 7 arm joint positions to create a trajectory

Definition at line 260 of file arm_control.cpp.

bool simple_robot_control::Arm::goToJointPos	(	const vector< double > &	positions,
		double	max_time = `3.0`,
		bool	wait = `true`
	)

moves arm to joint angle position. positions should contain a multiple of the 7 arm joint positions to create a trajectory

Definition at line 265 of file arm_control.cpp.

bool simple_robot_control::Arm::goToJointPosWithCollisionChecking	(	const vector< double > &	positions,
		double	max_time = `3.0`,
		bool	wait = `true`
	)

uses ompl path planner and moves arm to joint position. positions should contain a multiple of the 7 arm joint positions to create a trajectory.

Definition at line 102 of file arm_control.cpp.

tf::StampedTransform simple_robot_control::Arm::gripperToWrist ( const tf::StampedTransform & pose ) [private]

Definition at line 386 of file arm_control.cpp.

bool simple_robot_control::Arm::isAtPos ( const std::vector< double > & pos_vec )

Checks weather current arm position are the same as in pos_vec (wit some epsilon).

Definition at line 335 of file arm_control.cpp.

tf::StampedTransform simple_robot_control::Arm::makePose	(	const tf::Vector3 &	position,
		string	frame_id,
		approach_direction_t	approach
	)			`[private]`

Definition at line 401 of file arm_control.cpp.

bool simple_robot_control::Arm::moveGrippertoPose	(	const tf::StampedTransform &	pose,
		double	max_time = `5.0`,
		bool	wait = `true`,
		vector< double > *	ik_seed_pos = `0`
	)

gets IK and moves gripper_tool_frame to pose specified in pose. The orientation can be overridden by above enums.

Definition at line 444 of file arm_control.cpp.

bool simple_robot_control::Arm::moveGrippertoPoseWithCollisionChecking	(	const tf::StampedTransform &	pose,
		double	max_time = `5.0`,
		bool	wait = `true`,
		std::string	planner = `"ompl"`
	)

uses ompl path planner and moves gripper_tool_frame to pose specified in pose. The orientation can be overridden by above enums.

Definition at line 452 of file arm_control.cpp.

bool simple_robot_control::Arm::moveGrippertoPoseWithOrientationConstraints	(	const tf::StampedTransform &	tf,
		bool	keep_roll,
		bool	keep_pitch,
		bool	keep_yaw,
		double	max_time = `5.0`,
		bool	wait = `true`,
		double	tolerance = `0.2`
	)

uses ompl planner to calculate path and moves wrist roll link to pose specified and keeps the set orientations on the motion path within the tolerance (angle in radians)

Definition at line 468 of file arm_control.cpp.

bool simple_robot_control::Arm::moveGripperToPosition	(	const tf::Vector3 &	position,
		string	frame_id,
		approach_direction_t	approach = `FRONTAL`,
		double	max_time = `5.0`,
		bool	wait = `true`,
		vector< double > *	ik_seed_pos = `0`
	)

gets IK and moves gripper_tool_frame to pose specified in postion and the orientation of the approach direction relative to base coordinate frame

Definition at line 435 of file arm_control.cpp.

bool simple_robot_control::Arm::moveGrippertoPositionWithCollisionChecking	(	const tf::Vector3 &	position,
		string	frame_id,
		approach_direction_t	approach = `FRONTAL`,
		double	max_time = `5.0`,
		bool	wait = `true`,
		std::string	planner = `"ompl"`
	)

gets IK and moves gripper_tool_frame to pose specified in postion and the orientation of the approach direction relative to base coordinate frame

Definition at line 460 of file arm_control.cpp.

bool simple_robot_control::Arm::moveWristRollLinktoPose	(	const geometry_msgs::PoseStamped &	pose,
		double	max_time = `5.0`,
		bool	wait = `true`,
		vector< double > *	ik_seed_pos = `0`
	)

gets IK and moves wrist roll link to pose specified in pose

Definition at line 248 of file arm_control.cpp.

bool simple_robot_control::Arm::moveWristRollLinktoPose	(	const tf::StampedTransform &	pose,
		double	max_time = `5.0`,
		bool	wait = `true`,
		vector< double > *	ik_seed_pos = `0`
	)

gets IK and moves wrist roll link to pose specified in tf

Definition at line 84 of file arm_control.cpp.

bool simple_robot_control::Arm::moveWristRollLinktoPoseWithCollisionChecking	(	const tf::StampedTransform &	pose,
		double	max_time = `5.0`,
		bool	wait = `true`,
		std::string	planner = `"ompl"`
	)

uses ompl planner to calculate path and moves wrist roll link to pose specified

Definition at line 93 of file arm_control.cpp.

bool simple_robot_control::Arm::moveWristRollLinktoPoseWithCollisionChecking	(	const geometry_msgs::PoseStamped &	pose,
		double	max_time = `5.0`,
		bool	wait = `true`,
		std::string	planner = `"ompl"`
	)

uses ompl planner to calculate path and moves wrist roll link to pose specified in pose

Definition at line 152 of file arm_control.cpp.

bool simple_robot_control::Arm::moveWristRollLinktoPoseWithOrientationConstraints	(	const geometry_msgs::PoseStamped &	pose,
		bool	keep_roll,
		bool	keep_pitch,
		bool	keep_yaw,
		double	max_time = `5.0`,
		bool	wait = `true`,
		double	tolerance = `0.2`
	)

uses ompl planner to calculate path and moves wrist roll link to pose specified and keeps the set orientations on the motion path within the tolerance (angle in radians)

Definition at line 485 of file arm_control.cpp.

bool simple_robot_control::Arm::moveWristRollLinktoPoseWithOrientationConstraints	(	const tf::StampedTransform &	pose,
		bool	keep_roll,
		bool	keep_pitch,
		bool	keep_yaw,
		double	max_time = `5.0`,
		bool	wait = `true`,
		double	tolerance = `0.2`
	)

uses ompl planner to calculate path and moves wrist roll link to pose specified and keeps the set orientations on the motion path within the tolerance (angle in radians)

Definition at line 476 of file arm_control.cpp.