grasp_executor.h
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00033 
00034 // Author(s): Matei Ciocarlie
00035 
00036 #ifndef _GRASP_EXECUTOR_H_
00037 #define _GRASP_EXECUTOR_H_
00038 
00039 #include <ros/ros.h>
00040 
00041 #include "object_manipulation_msgs/GraspResult.h"
00042 #include "object_manipulation_msgs/PickupGoal.h"
00043 
00044 #include "object_manipulator/tools/mechanism_interface.h"
00045 #include "object_manipulator/tools/grasp_marker_publisher.h"
00046 
00047 namespace object_manipulator {
00048 
00050 
00053 class GraspExecutor
00054 {
00055  public:
00056   object_manipulation_msgs::GraspResult Result(int result_code, bool continuation)
00057   {
00058     object_manipulation_msgs::GraspResult result;
00059     result.result_code = result_code;
00060     result.continuation_possible = continuation;
00061     return result;
00062   }
00063 
00064  protected:
00065 
00067   GraspMarkerPublisher *marker_publisher_;
00068 
00070   unsigned int marker_id_;
00071 
00073   trajectory_msgs::JointTrajectory interpolated_lift_trajectory_;
00074 
00076   object_manipulation_msgs::GraspResult
00077     getInterpolatedIKForLift(const object_manipulation_msgs::PickupGoal &pickup_goal,
00078                              const object_manipulation_msgs::Grasp &grasp,
00079                              const std::vector<double> &grasp_joint_angles,
00080                              trajectory_msgs::JointTrajectory &lift_trajectory);
00081 
00083   motion_planning_msgs::OrderedCollisionOperations
00084     collisionOperationsForLift(const object_manipulation_msgs::PickupGoal &pickup_goal);
00085 
00087   std::vector<motion_planning_msgs::LinkPadding>
00088     linkPaddingForLift(const object_manipulation_msgs::PickupGoal &pickup_goal);
00089 
00091   std::vector<motion_planning_msgs::LinkPadding>
00092     fingertipPadding(const object_manipulation_msgs::PickupGoal &pickup_goal, double pad);
00093 
00095   virtual object_manipulation_msgs::GraspResult
00096     prepareGrasp(const object_manipulation_msgs::PickupGoal &pickup_goal,
00097                  const object_manipulation_msgs::Grasp &grasp) = 0;
00098 
00100 
00101   virtual object_manipulation_msgs::GraspResult
00102     executeGrasp(const object_manipulation_msgs::PickupGoal &pickup_goal,
00103                  const object_manipulation_msgs::Grasp &grasp) = 0;
00104 
00105  public:
00106 
00108   GraspExecutor(GraspMarkerPublisher *pub) : marker_publisher_(pub)
00109   {}
00110   virtual ~GraspExecutor() {}
00111 
00113   /* Returns SUCCESS if the grasp was successfully executed, UNFEASIBLE if it fails without
00114      affecting the environment (generally during move_arm stages) or FAILED if it fails and might
00115      have affected the object (generally during the final grasp stage).
00116 
00117    Calls prepareGrasp(), and if prepareGrasp() returns true, it calls executeGrasp() and returns its result.
00118   */
00119   object_manipulation_msgs::GraspResult
00120     checkAndExecuteGrasp(const object_manipulation_msgs::PickupGoal &pickup_goal,
00121                          const object_manipulation_msgs::Grasp &grasp);
00122 
00124 
00127   virtual object_manipulation_msgs::GraspResult
00128     retreat(const object_manipulation_msgs::PickupGoal &pickup_goal)
00129   {
00130     ROS_WARN("This grasp executor has no retreat capability");
00131     return Result(object_manipulation_msgs::GraspResult::RETREAT_FAILED, false);
00132   }
00133 
00135 
00140   virtual object_manipulation_msgs::GraspResult lift(const object_manipulation_msgs::PickupGoal &pickup_goal);
00141 };
00142 
00143 } //namespace grasp_execution
00144 
00145 #endif
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katana_object_manipulator
Author(s): Henning Deeken
autogenerated on Thu Jan 3 2013 14:44:42