object_manipulator::ReactiveGraspPerformer Class Reference

#include <approach_lift_grasp.h>

Inheritance diagram for object_manipulator::ReactiveGraspPerformer:

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List of all members.

Protected Member Functions
virtual object_manipulation_msgs::GraspResult	approachAndGrasp (const object_manipulation_msgs::PickupGoal &pickup_goal, const object_manipulation_msgs::Grasp &grasp, GraspExecutionInfo &execution_info)
virtual object_manipulation_msgs::GraspResult	lift (const object_manipulation_msgs::PickupGoal &pickup_goal, const object_manipulation_msgs::Grasp &grasp, GraspExecutionInfo &execution_info)
virtual object_manipulation_msgs::GraspResult	nonReactiveLift (const object_manipulation_msgs::PickupGoal &pickup_goal, const object_manipulation_msgs::Grasp &grasp, GraspExecutionInfo &execution_info)
	Open loop lift that just executes a pre-set trajectory.
virtual object_manipulation_msgs::GraspResult	reactiveLift (const object_manipulation_msgs::PickupGoal &pickup_goal, const object_manipulation_msgs::Grasp &grasp, GraspExecutionInfo &execution_info)
	Lifting based on fingertip forces.

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Detailed Description

Uses reactive grasping instead of executing approach trajectory, then computes a new lift trajectory from wherever reactive grasping ends up.

Definition at line 240 of file approach_lift_grasp.h.

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Member Function Documentation

object_manipulation_msgs::GraspResult object_manipulator::ReactiveGraspPerformer::approachAndGrasp	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		const object_manipulation_msgs::Grasp &	grasp,
		GraspExecutionInfo &	execution_info
	)			[protected, virtual]

Reimplemented from object_manipulator::StandardGraspPerformer.

Reimplemented in object_manipulator::UnsafeGraspPerformer.

Definition at line 608 of file approach_lift_grasp.cpp.

object_manipulation_msgs::GraspResult object_manipulator::ReactiveGraspPerformer::lift	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		const object_manipulation_msgs::Grasp &	grasp,
		GraspExecutionInfo &	execution_info
	)			[protected, virtual]

Reimplemented from object_manipulator::StandardGraspPerformer.

Definition at line 593 of file approach_lift_grasp.cpp.

object_manipulation_msgs::GraspResult object_manipulator::ReactiveGraspPerformer::nonReactiveLift	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		const object_manipulation_msgs::Grasp &	grasp,
		GraspExecutionInfo &	execution_info
	)			[protected, virtual]

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

Definition at line 513 of file approach_lift_grasp.cpp.

object_manipulation_msgs::GraspResult object_manipulator::ReactiveGraspPerformer::reactiveLift	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		const object_manipulation_msgs::Grasp &	grasp,
		GraspExecutionInfo &	execution_info
	)			[protected, virtual]

Lifting based on fingertip forces.

Definition at line 563 of file approach_lift_grasp.cpp.

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

• approach_lift_grasp.h
• approach_lift_grasp.cpp