object_manipulator::PlaceTester Class Reference

Inheritance diagram for object_manipulator::PlaceTester:

Public Member Functions
	PlaceTester ()
object_manipulation_msgs::PlaceLocationResult	Result (int result_code, bool continuation)
	Helper function for convenience.
void	setFeedbackFunction (boost::function< void(size_t)> f)
	Sets the feedback function.
void	setInterruptFunction (boost::function< bool()> f)
	Sets the interrupt function.
void	setMarkerPublisher (GraspMarkerPublisher *pub)
	Sets the marker publisher to be used.
virtual void	testPlaces (const object_manipulation_msgs::PlaceGoal &place_goal, const std::vector< geometry_msgs::PoseStamped > &place_locations, std::vector< PlaceExecutionInfo > &execution_info, bool return_on_first_hit)
	Tests a set of place locations and provides their execution info.
Protected Member Functions
geometry_msgs::PoseStamped	computeGripperPose (geometry_msgs::PoseStamped place_location, geometry_msgs::Pose grasp_pose, std::string frame_id)
	Computes the gripper pose for a desired object place location.
virtual void	testPlace (const object_manipulation_msgs::PlaceGoal &place_goal, const geometry_msgs::PoseStamped &place_location, PlaceExecutionInfo &execution_info)=0
	Tests a single place location.
Protected Attributes
boost::function< void(size_t)>	feedback_function_
boost::function< bool()>	interrupt_function_
	Function used to check for interrupts.
tf::TransformListener	listener_
	Transform listener.
GraspMarkerPublisher *	marker_publisher_
	The marker publisher that will be used; NULL is marker publishing is disabled.

Detailed Description

Tests place locations for feasibility in the current environment, and generates info needed for execution

Definition at line 64 of file descend_retreat_place.h.

object_manipulator::PlaceTester::PlaceTester ( ) [inline]

Definition at line 90 of file descend_retreat_place.h.

geometry_msgs::PoseStamped object_manipulator::PlaceTester::computeGripperPose	(	geometry_msgs::PoseStamped	place_location,
		geometry_msgs::Pose	grasp_pose,
		std::string	frame_id
	)			`[protected]`

Computes the gripper pose for a desired object place location.

Definition at line 79 of file descend_retreat_place.cpp.

object_manipulation_msgs::PlaceLocationResult object_manipulator::PlaceTester::Result	(	int	result_code,
		bool	continuation
	)			`[inline]`

Helper function for convenience.

Definition at line 108 of file descend_retreat_place.h.

void object_manipulator::PlaceTester::setFeedbackFunction ( boost::function< void(size_t)> f ) [inline]

Sets the feedback function.

Definition at line 102 of file descend_retreat_place.h.

void object_manipulator::PlaceTester::setInterruptFunction ( boost::function< bool()> f ) [inline]

Sets the interrupt function.

Definition at line 105 of file descend_retreat_place.h.

void object_manipulator::PlaceTester::setMarkerPublisher ( GraspMarkerPublisher * pub ) [inline]

Sets the marker publisher to be used.

Definition at line 99 of file descend_retreat_place.h.

virtual void object_manipulator::PlaceTester::testPlace	(	const object_manipulation_msgs::PlaceGoal &	place_goal,
		const geometry_msgs::PoseStamped &	place_location,
		PlaceExecutionInfo &	execution_info
	)			`[protected, pure virtual]`

Tests a single place location.

void object_manipulator::PlaceTester::testPlaces	(	const object_manipulation_msgs::PlaceGoal &	place_goal,
		const std::vector< geometry_msgs::PoseStamped > &	place_locations,
		std::vector< PlaceExecutionInfo > &	execution_info,
		bool	return_on_first_hit
	)			`[virtual]`