tabletop_collision_map_processing::collision_map_interface::CollisionMapInterface Class Reference

List of all members.

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	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 the current collision map to default
def	take_static_map
	take a static map scan
Public Attributes
	attached_object_pub
	collision_map_reset_client
	make_static_collision_map_client
	object_in_map_current_id
	object_in_map_pub

Detailed Description

Definition at line 56 of file collision_map_interface.py.

Member Function Documentation

def tabletop_collision_map_processing::collision_map_interface::CollisionMapInterface::__init__ ( self )

Definition at line 58 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 238 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 129 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 145 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 159 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 231 of file collision_map_interface.py.

def tabletop_collision_map_processing::collision_map_interface::CollisionMapInterface::mat_to_pose	(	self,
		mat
	)

Definition at line 187 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 178 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 255 of file collision_map_interface.py.

def tabletop_collision_map_processing::collision_map_interface::CollisionMapInterface::process_collision_geometry_for_table	(	self,
		firsttable,
		additional_tables = `[]`
	)