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object_manipulator::ReactiveGraspPerformer Class Reference

#include <approach_lift_grasp.h>

Inheritance diagram for object_manipulator::ReactiveGraspPerformer:
Inheritance graph
[legend]

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.

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.


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]
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.


The documentation for this class was generated from the following files:
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object_manipulator
Author(s): Matei Ciocarlie and Kaijen Hsiao
autogenerated on Fri Mar 1 18:35:43 2013