object_manipulator::UnsafeGraspPerformer Class Reference

Uses open-loop Cartesian controllers for all movement. More...

#include <approach_lift_grasp.h>

Inheritance diagram for object_manipulator::UnsafeGraspPerformer:

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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)

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Detailed Description

Uses open-loop Cartesian controllers for all movement.

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 281 of file approach_lift_grasp.h.

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Member Function Documentation

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

Reimplemented from object_manipulator::ReactiveGraspPerformer.

Definition at line 659 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