All Classes Namespaces Files Functions Variables Typedefs Enumerations Properties Friends
Public Member Functions | Private Member Functions | Private Attributes
object_manipulator::SimpleGraspExecutor Class Reference

Simplest grasp executor, using only final grasp information. More...

#include <simple_grasp_executor.h>

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

List of all members.

Public Member Functions

 SimpleGraspExecutor (GraspMarkerPublisher *pub)
 Also adds a marker at the final grasp.

Private Member Functions

virtual
object_manipulation_msgs::GraspResult 
executeGrasp (const object_manipulation_msgs::PickupGoal &pickup_goal, const object_manipulation_msgs::Grasp &grasp)
 Sends the IK result of prepareGrasp() to move_arm, then executes lift trajectory.
virtual
object_manipulation_msgs::GraspResult 
prepareGrasp (const object_manipulation_msgs::PickupGoal &pickup_goal, const object_manipulation_msgs::Grasp &grasp)
 Calls IK on the final grasp pose.

Private Attributes

kinematics_msgs::GetConstraintAwarePositionIK::Response ik_response_
 The inverse kinematics solution for the final grasp.

Detailed Description

Simplest grasp executor, using only final grasp information.

The initial check consists of calling IK on the final grasp to see if a valid IK solution exists, then cheking interpolated IK to see if the object can be lifted. Execution then consists of passing along the IK solution to move_arm, followed by the lift trajectory.

Definition at line 49 of file simple_grasp_executor.h.


Constructor & Destructor Documentation

Also adds a marker at the final grasp.

Definition at line 66 of file simple_grasp_executor.h.


Member Function Documentation

GraspResult object_manipulator::SimpleGraspExecutor::executeGrasp ( const object_manipulation_msgs::PickupGoal &  pickup_goal,
const object_manipulation_msgs::Grasp &  grasp 
) [private, virtual]

Sends the IK result of prepareGrasp() to move_arm, then executes lift trajectory.

Implements object_manipulator::GraspExecutor.

Definition at line 76 of file simple_grasp_executor.cpp.

GraspResult object_manipulator::SimpleGraspExecutor::prepareGrasp ( const object_manipulation_msgs::PickupGoal &  pickup_goal,
const object_manipulation_msgs::Grasp &  grasp 
) [private, virtual]

Calls IK on the final grasp pose.

Implements object_manipulator::GraspExecutor.

Definition at line 44 of file simple_grasp_executor.cpp.


Member Data Documentation

kinematics_msgs::GetConstraintAwarePositionIK::Response object_manipulator::SimpleGraspExecutor::ik_response_ [private]

The inverse kinematics solution for the final grasp.

Definition at line 53 of file simple_grasp_executor.h.


The documentation for this class was generated from the following files:
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Properties Friends


katana_object_manipulator
Author(s): Henning Deeken
autogenerated on Thu Jan 3 2013 14:44:43