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object_manipulator::UnsafeGraspExecutor Class Reference

Uses Cartesian movements to get to pre-grasp and grasp. More...

#include <unsafe_grasp_executor.h>

Inheritance diagram for object_manipulator::UnsafeGraspExecutor:
Inheritance graph
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List of all members.

Public Member Functions

 UnsafeGraspExecutor (GraspMarkerPublisher *pub)
 Only calls super constructor.

Protected Member Functions

virtual
arm_navigation_msgs::OrderedCollisionOperations 
collisionOperationsForGrasp (const object_manipulation_msgs::PickupGoal &pickup_goal)
 Disables collisions when planning the grasp motion.
arm_navigation_msgs::OrderedCollisionOperations collisionOperationsForLift (const object_manipulation_msgs::PickupGoal &pickup_goal)
 Collision operations to be used when planning the lift motion.
virtual
object_manipulation_msgs::GraspResult 
executeGrasp (const object_manipulation_msgs::PickupGoal &pickup_goal, const object_manipulation_msgs::Grasp &grasp)
 Uses Cartesian movement to get to pre-grasp, then either reactive.

Detailed Description

Uses Cartesian movements to get to pre-grasp and grasp.

Initial check consists of non-collision-aware IK for the grasp and pre-grasp.

Execution consists of using Cartesian controllers to move directly to the pre-grasp, ignoring any possible collisions, then opening the hand to the desired pre-grasp configuration, then moving from pre-grasp to grasp again with Cartesian controllers (reactively if desired).

This is intended for crowded situations where the hand is already close to the pre-grasp and we want to just move directly there, shove things out of the way, and grasp.

Definition at line 56 of file unsafe_grasp_executor.h.


Constructor & Destructor Documentation

object_manipulator::UnsafeGraspExecutor::UnsafeGraspExecutor ( GraspMarkerPublisher pub  )  [inline]

Only calls super constructor.

Definition at line 76 of file unsafe_grasp_executor.h.


Member Function Documentation

arm_navigation_msgs::OrderedCollisionOperations object_manipulator::UnsafeGraspExecutor::collisionOperationsForGrasp ( const object_manipulation_msgs::PickupGoal pickup_goal  )  [protected, virtual]

Disables collisions when planning the grasp motion.

Disable collisions between everything and everything

Reimplemented from object_manipulator::GraspExecutorWithApproach.

Definition at line 131 of file unsafe_grasp_executor.cpp.

arm_navigation_msgs::OrderedCollisionOperations object_manipulator::UnsafeGraspExecutor::collisionOperationsForLift ( const object_manipulation_msgs::PickupGoal pickup_goal  )  [protected]

Collision operations to be used when planning the lift motion.

Disables collision between everything and everything

Reimplemented from object_manipulator::GraspExecutor.

Definition at line 146 of file unsafe_grasp_executor.cpp.

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

Uses Cartesian movement to get to pre-grasp, then either reactive.

Reimplemented from object_manipulator::ReactiveGraspExecutor.

Definition at line 44 of file unsafe_grasp_executor.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 18:35:45 2013