gazebo::GazeboRosGraspHack Class Reference

#include <gazebo_ros_grasp_hack.h>

List of all members.

Classes
class	GripperPose
Public Member Functions
	GazeboRosGraspHack (Entity *parent)
	Constructor.
virtual	~GazeboRosGraspHack ()
	Destructor.
Protected Member Functions
virtual void	FiniChild ()
	Finalize the controller.
virtual void	InitChild ()
	Init the controller.
virtual void	LoadChild (XMLConfigNode *node)
	Load the controller.
virtual void	UpdateChild ()
	Update the controller.
Private Member Functions
void	CheckForGrasps ()
void	GetGripperLinks ()
void	GraspHackConnect ()
void	GraspHackDisconnect ()
void	GraspHackQueueThread ()
Private Attributes
boost::thread	callback_queue_thread_
bool	found_gripper_links
boost::thread	get_gripper_links_thread_
ros::CallbackQueue	grasp_hack_queue_
double	graspCheckRate
ParamT< double > *	graspCheckRateP
int	graspHackConnectCount
	Keep track of number of connctions.
std::map< std::string, GripperPose >	gripper_bodies
	gripper links and store relative poses for contact correction during grasp
std::vector< Pose3d >	gripper_relative_poses
bool	l_grasp
Pose3d	l_grasp_relative_pose
	object pose relative to wrist_roll_body during grasp
Body *	l_wrist_roll_body
	The gripper links.
Time	last_grasp_check_time
Time	last_time
	save last_time
boost::mutex	lock
	A mutex to lock access to fields that are used in message callbacks.
Body *	myParentBody
	The parent Body.
Model *	myParentModel
	The parent Model.
ros::Publisher	pub_
bool	r_grasp
Pose3d	r_grasp_relative_pose
Body *	r_wrist_roll_body
std::string	robotNamespace
ParamT< std::string > *	robotNamespaceP
	for setting ROS name space
ros::NodeHandle *	rosnode_
	pointer to ros node
std::string	topicName
ParamT< std::string > *	topicNameP
	topic name

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Detailed Description

Definition at line 50 of file gazebo_ros_grasp_hack.h.

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Constructor & Destructor Documentation

GazeboRosGraspHack::GazeboRosGraspHack

(

Entity *

parent

)

Constructor.

Definition at line 46 of file gazebo_ros_grasp_hack.cpp.

GazeboRosGraspHack::~GazeboRosGraspHack

(

)

[virtual]

Destructor.

Definition at line 98 of file gazebo_ros_grasp_hack.cpp.

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Member Function Documentation

void GazeboRosGraspHack::CheckForGrasps

(

)

[private]

Definition at line 202 of file gazebo_ros_grasp_hack.cpp.

void GazeboRosGraspHack::FiniChild

(

)

[protected, virtual]

Finalize the controller.

Definition at line 399 of file gazebo_ros_grasp_hack.cpp.

void GazeboRosGraspHack::GetGripperLinks

(

)

[private]

Definition at line 162 of file gazebo_ros_grasp_hack.cpp.

void GazeboRosGraspHack::GraspHackConnect

(

)

[private]

Definition at line 140 of file gazebo_ros_grasp_hack.cpp.

void GazeboRosGraspHack::GraspHackDisconnect

(

)

[private]

Definition at line 146 of file gazebo_ros_grasp_hack.cpp.

void GazeboRosGraspHack::GraspHackQueueThread

(

)

[private]

Definition at line 410 of file gazebo_ros_grasp_hack.cpp.

void GazeboRosGraspHack::InitChild

(

)

[protected, virtual]

Init the controller.

Definition at line 153 of file gazebo_ros_grasp_hack.cpp.

void GazeboRosGraspHack::LoadChild

(

XMLConfigNode *

node

)

[protected, virtual]

Load the controller.

Parameters:

node

XML config node

Definition at line 108 of file gazebo_ros_grasp_hack.cpp.

void GazeboRosGraspHack::UpdateChild

(

)

[protected, virtual]

Update the controller.

Definition at line 289 of file gazebo_ros_grasp_hack.cpp.

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Member Data Documentation

boost::thread gazebo::GazeboRosGraspHack::callback_queue_thread_ [private]

Definition at line 133 of file gazebo_ros_grasp_hack.h.

bool gazebo::GazeboRosGraspHack::found_gripper_links [private]

Definition at line 115 of file gazebo_ros_grasp_hack.h.

boost::thread gazebo::GazeboRosGraspHack::get_gripper_links_thread_ [private]

Definition at line 134 of file gazebo_ros_grasp_hack.h.

ros::CallbackQueue gazebo::GazeboRosGraspHack::grasp_hack_queue_ [private]

Definition at line 131 of file gazebo_ros_grasp_hack.h.

double gazebo::GazeboRosGraspHack::graspCheckRate [private]

Definition at line 110 of file gazebo_ros_grasp_hack.h.

ParamT<double>* gazebo::GazeboRosGraspHack::graspCheckRateP [private]

Definition at line 109 of file gazebo_ros_grasp_hack.h.

int gazebo::GazeboRosGraspHack::graspHackConnectCount [private]

Keep track of number of connctions.

Definition at line 127 of file gazebo_ros_grasp_hack.h.

std::map<std::string, GripperPose > gazebo::GazeboRosGraspHack::gripper_bodies [private]

gripper links and store relative poses for contact correction during grasp

Definition at line 91 of file gazebo_ros_grasp_hack.h.

std::vector<Pose3d> gazebo::GazeboRosGraspHack::gripper_relative_poses [private]

Definition at line 92 of file gazebo_ros_grasp_hack.h.

bool gazebo::GazeboRosGraspHack::l_grasp [private]

Definition at line 94 of file gazebo_ros_grasp_hack.h.

Pose3d gazebo::GazeboRosGraspHack::l_grasp_relative_pose [private]

object pose relative to wrist_roll_body during grasp

Definition at line 98 of file gazebo_ros_grasp_hack.h.

Body* gazebo::GazeboRosGraspHack::l_wrist_roll_body [private]

The gripper links.

Definition at line 87 of file gazebo_ros_grasp_hack.h.

Time gazebo::GazeboRosGraspHack::last_grasp_check_time [private]

Definition at line 111 of file gazebo_ros_grasp_hack.h.

Time gazebo::GazeboRosGraspHack::last_time [private]

save last_time

Definition at line 120 of file gazebo_ros_grasp_hack.h.

boost::mutex gazebo::GazeboRosGraspHack::lock [private]

A mutex to lock access to fields that are used in message callbacks.

Definition at line 114 of file gazebo_ros_grasp_hack.h.

Body* gazebo::GazeboRosGraspHack::myParentBody [private]

The parent Body.

Definition at line 81 of file gazebo_ros_grasp_hack.h.

Model* gazebo::GazeboRosGraspHack::myParentModel [private]

The parent Model.

Definition at line 84 of file gazebo_ros_grasp_hack.h.

ros::Publisher gazebo::GazeboRosGraspHack::pub_ [private]

Definition at line 103 of file gazebo_ros_grasp_hack.h.

bool gazebo::GazeboRosGraspHack::r_grasp [private]

Definition at line 95 of file gazebo_ros_grasp_hack.h.

Pose3d gazebo::GazeboRosGraspHack::r_grasp_relative_pose [private]

Definition at line 99 of file gazebo_ros_grasp_hack.h.

Body* gazebo::GazeboRosGraspHack::r_wrist_roll_body [private]

Definition at line 88 of file gazebo_ros_grasp_hack.h.

std::string gazebo::GazeboRosGraspHack::robotNamespace [private]

Definition at line 124 of file gazebo_ros_grasp_hack.h.

ParamT<std::string>* gazebo::GazeboRosGraspHack::robotNamespaceP [private]

for setting ROS name space

Definition at line 123 of file gazebo_ros_grasp_hack.h.

ros::NodeHandle* gazebo::GazeboRosGraspHack::rosnode_ [private]

pointer to ros node

Definition at line 102 of file gazebo_ros_grasp_hack.h.

std::string gazebo::GazeboRosGraspHack::topicName [private]

Definition at line 107 of file gazebo_ros_grasp_hack.h.

ParamT<std::string>* gazebo::GazeboRosGraspHack::topicNameP [private]

topic name

Definition at line 106 of file gazebo_ros_grasp_hack.h.

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

• gazebo_ros_grasp_hack.h
• gazebo_ros_grasp_hack.cpp