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object_manipulator::ReactiveGraspExecutor Class Reference

#include <reactive_grasp_executor.h>

Inheritance diagram for object_manipulator::ReactiveGraspExecutor:
Inheritance graph
[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.

Detailed Description

Definition at line 41 of file reactive_grasp_executor.h.


Constructor & Destructor Documentation

Only calls super constructor.

Definition at line 60 of file reactive_grasp_executor.h.


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.

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 179 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 106 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 148 of file reactive_grasp_executor.cpp.


The documentation for this class was generated from the following files:
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katana_object_manipulator
Author(s): Henning Deeken
autogenerated on Thu Jan 3 2013 14:44:43