object_manipulator::ReactiveGraspExecutor Class Reference

#include <reactive_grasp_executor.h>

Inheritance diagram for object_manipulator::ReactiveGraspExecutor:

[legend]

List of all members.

Public Member Functions
virtual object_manipulation_msgs::GraspResult	lift (const object_manipulation_msgs::PickupGoal &pickup_goal)
	Lifts the object starting from current gripper pose.
	ReactiveGraspExecutor (GraspMarkerPublisher *pub)
	Only calls super constructor.
Protected Member Functions
virtual object_manipulation_msgs::GraspResult	executeGrasp (const object_manipulation_msgs::PickupGoal &pickup_goal, const object_manipulation_msgs::Grasp &grasp)
	Uses move_arm to get to pre-grasp, then reactive grasping to grasp.
virtual object_manipulation_msgs::GraspResult	nonReactiveLift (const object_manipulation_msgs::PickupGoal &pickup_goal)
	Open loop lift that just executes a pre-set trajectory.
virtual object_manipulation_msgs::GraspResult	reactiveLift (const object_manipulation_msgs::PickupGoal &pickup_goal)
	Lifting based on fingertip forces.

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Detailed Description

Definition at line 41 of file reactive_grasp_executor.h.

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Constructor & Destructor Documentation

object_manipulator::ReactiveGraspExecutor::ReactiveGraspExecutor

(

GraspMarkerPublisher *

pub

)

[inline]

Only calls super constructor.

Definition at line 60 of file reactive_grasp_executor.h.

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Member Function Documentation

GraspResult object_manipulator::ReactiveGraspExecutor::executeGrasp	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		const object_manipulation_msgs::Grasp &	grasp
	)			[protected, virtual]

Uses move_arm to get to pre-grasp, then reactive grasping to grasp.

Reimplemented from object_manipulator::GraspExecutorWithApproach.

Reimplemented in object_manipulator::UnsafeGraspExecutor.

Definition at line 50 of file reactive_grasp_executor.cpp.

GraspResult object_manipulator::ReactiveGraspExecutor::lift

(

const object_manipulation_msgs::PickupGoal &

pickup_goal

)

[virtual]

Lifts the object starting from current gripper pose.

Reimplemented from object_manipulator::GraspExecutor.

Definition at line 186 of file reactive_grasp_executor.cpp.

GraspResult object_manipulator::ReactiveGraspExecutor::nonReactiveLift

(

const object_manipulation_msgs::PickupGoal &

pickup_goal

)

[protected, virtual]

Open loop lift that just executes a pre-set trajectory.

Definition at line 107 of file reactive_grasp_executor.cpp.

GraspResult object_manipulator::ReactiveGraspExecutor::reactiveLift

(

const object_manipulation_msgs::PickupGoal &

pickup_goal

)

[protected, virtual]

Lifting based on fingertip forces.

Definition at line 155 of file reactive_grasp_executor.cpp.

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

• reactive_grasp_executor.h
• reactive_grasp_executor.cpp