Namespaces | Classes | Functions | Variables
object_manipulator Namespace Reference

Helper functions for using image regions of PointCloud2s. More...

Namespaces

namespace  cluster_bounding_box_finder
namespace  convert_functions
namespace  draw_functions
namespace  image_region_functions
namespace  msg
namespace  shapes

Classes

class  ActionWrapper
 Wrapper class for SimpleActionClient that checks server availability on first use. More...
class  BadParamException
 Thrown when a needed parameter on the parameter server is found but does not have the right type. More...
class  CollisionMapException
 Thrown when the grasping pipeline has failed to communicate with the collision map. More...
class  GraspException
 General base class for all exceptions originating in the grasping pipeline. More...
class  GraspExecutor
 Base class, interface and common functionality for grasp execution. More...
class  GraspExecutorWithApproach
 Uses an interpolated IK approach from pregrasp to final grasp. More...
class  GraspMarkerPublisher
 Publishes and keeps track of debug grasp markers. More...
class  HandDescription
class  IncompatibleRobotStateException
 Thrown if the current robot state prevents any grasp execution. More...
class  MechanismException
 Thrown when the grasping pipeline has failed to communicate with or issue commands to the robot. More...
class  MechanismInterface
 A collection of ROS service and action clients needed for grasp execution. More...
class  MissingParamException
 Thrown when a needed parameter is not found on the parameter server. More...
class  MoveArmStuckException
 Thrown if move arm can not plan out of the current arm state. More...
class  MultiArmActionWrapper
 A wrapper for multiple instances of a given action, one for each arm in the system. More...
class  MultiArmServiceWrapper
 A wrapper for multiple instances of a given service, one for each arm in the system. More...
class  ObjectManipulator
 Oversees the grasping app; bundles together functionality in higher level calls. More...
class  ObjectManipulatorNode
 Wraps the Object Manipulator in a ROS API. More...
class  PlaceExecutor
 Functionality for placing a grasped object at a given location. More...
class  ReactiveGraspExecutor
class  ReactivePlaceExecutor
 Uses a reactive version of the move from pre-place to place. More...
class  ServiceNotFoundException
 Thrown when a service or action server was not found. More...
class  ServiceWrapper
 Wrapper class for service clients to perform initialization on first use. More...
class  SimpleGraspExecutor
 Simplest grasp executor, using only final grasp information. More...

Functions

template<class T >
std::vector< T > concat (const std::vector< T > &v1, const std::vector< T > &v2)
motion_planning_msgs::OrderedCollisionOperations concat (const motion_planning_msgs::OrderedCollisionOperations &o1, const motion_planning_msgs::OrderedCollisionOperations &o2)
void drawBox (ros::Publisher &pub, const shapes::Box &shape, const char *ns="box", int id=0, const ros::Duration lifetime=ros::Duration(), const std_msgs::ColorRGBA color=msg::createColorMsg(0.5, 0.5, 0.5, 0.5), bool destroy=false, bool frame_locked=false)
void drawCylinder (ros::Publisher &pub, const shapes::Cylinder &shape, const char *ns="cylinder", int id=0, const ros::Duration lifetime=ros::Duration(), const std_msgs::ColorRGBA color=msg::createColorMsg(0.5, 0.5, 0.5, 0.5), bool destroy=false, bool frame_locked=false)
void drawMesh (ros::Publisher &pub, const shapes::Mesh &shape, const char *ns="mesh", int id=0, const ros::Duration lifetime=ros::Duration(), const std_msgs::ColorRGBA color=msg::createColorMsg(0.5, 0.5, 0.5, 0.5), bool destroy=false, bool frame_locked=false)
void drawSphere (ros::Publisher &pub, const shapes::Sphere &shape, const char *ns="sphere", int id=0, const ros::Duration lifetime=ros::Duration(), const std_msgs::ColorRGBA color=msg::createColorMsg(0.5, 0.5, 0.5, 0.5), bool destroy=false, bool frame_locked=false)
HandDescriptionhandDescription ()
 Returns a hand description singleton.
MechanismInterfacemechInterface ()
 Returns a MechanismInterface singleton.

Variables

static const std::string ATTACHED_COLLISION_TOPIC = "attached_collision_object"
static const std::string CARTESIAN_COMMAND_SUFFIX = "/cart/command_pose"
static const std::string CHECK_STATE_VALIDITY_NAME = "environment_server/get_state_validity"
static const std::string FK_SERVICE_SUFFIX = "/get_fk"
static const std::string GRASP_STATUS_SUFFIX = "/grasp_status"
static const std::string HAND_POSTURE_ACTION_SUFFIX = "/hand_posture_execution"
static const std::string IK_QUERY_SERVICE_SUFFIX = "/get_ik_solver_info"
static const std::string IK_SERVICE_SUFFIX = "/constraint_aware_ik"
static const std::string INTERPOLATED_IK_SERVICE_SUFFIX = "/interpolated_ik"
static const std::string INTERPOLATED_IK_SET_PARAMS_SERVICE_SUFFIX = "/interpolated_ik_set_params"
static const std::string LIST_CONTROLLERS_SERVICE_NAME = "/list_controllers"
static const std::string MARKERS_NAMESPACE = "grasp_markers"
static const std::string MARKERS_OUT_NAME = "grasp_execution_markers"
static const std::string MOVE_ARM_ACTION_SUFFIX = "/move_arm"
static const std::string MOVE_ARM_CONSTRAINED_PLANNER_SERVICE_NAME = "ompl_planning/plan_kinematic_path"
static const std::string MOVE_ARM_PLANNER_ID = "SBLkConfig1"
static const std::string MOVE_ARM_PLANNER_SERVICE_NAME = "ompl_planning/plan_kinematic_path"
static const std::string NORMALIZE_SERVICE_NAME = "trajectory_filter_unnormalizer/filter_trajectory"
static const double OBJECT_POSITION_TOLERANCE_X = 0.02
static const double OBJECT_POSITION_TOLERANCE_Y = 0.02
static const double OBJECT_POSITION_TOLERANCE_Z = 0.02
static const std::string PICKUP_ACTION_NAME = "object_manipulator_pickup"
static const std::string PLACE_ACTION_NAME = "object_manipulator_place"
static const std::string POINT_HEAD_ACTION_TOPIC = "/head_traj_controller/point_head_action"
static const std::string REACTIVE_GRASP_ACTION_SUFFIX = "/reactive_grasp"
static const std::string REACTIVE_LIFT_ACTION_SUFFIX = "/reactive_lift"
static const std::string REACTIVE_PLACE_ACTION_SUFFIX = "/reactive_place"
static const std::string SWITCH_CONTROLLER_SERVICE_NAME = "/switch_controller"
static const std::string TRAJECTORY_ACTION_SUFFIX = "/joint_trajectory"

Detailed Description

Helper functions for using image regions of PointCloud2s.


Function Documentation

template<class T >
std::vector<T> object_manipulator::concat ( const std::vector< T > &  v1,
const std::vector< T > &  v2 
) [inline]

Definition at line 42 of file vector_tools.h.

Definition at line 41 of file vector_tools.cpp.

void object_manipulator::drawBox ( ros::Publisher pub,
const shapes::Box shape,
const char *  ns = "box",
int  id = 0,
const ros::Duration  lifetime = ros::Duration(),
const std_msgs::ColorRGBA  color = msg::createColorMsg(0.5, 0.5, 0.5, 0.5),
bool  destroy = false,
bool  frame_locked = false 
)

Definition at line 61 of file shape_tools.cpp.

void object_manipulator::drawCylinder ( ros::Publisher pub,
const shapes::Cylinder shape,
const char *  ns = "cylinder",
int  id = 0,
const ros::Duration  lifetime = ros::Duration(),
const std_msgs::ColorRGBA  color = msg::createColorMsg(0.5, 0.5, 0.5, 0.5),
bool  destroy = false,
bool  frame_locked = false 
)

Definition at line 44 of file shape_tools.cpp.

void object_manipulator::drawMesh ( ros::Publisher pub,
const shapes::Mesh shape,
const char *  ns = "mesh",
int  id = 0,
const ros::Duration  lifetime = ros::Duration(),
const std_msgs::ColorRGBA  color = msg::createColorMsg(0.5, 0.5, 0.5, 0.5),
bool  destroy = false,
bool  frame_locked = false 
)

Definition at line 95 of file shape_tools.cpp.

void object_manipulator::drawSphere ( ros::Publisher pub,
const shapes::Sphere shape,
const char *  ns = "sphere",
int  id = 0,
const ros::Duration  lifetime = ros::Duration(),
const std_msgs::ColorRGBA  color = msg::createColorMsg(0.5, 0.5, 0.5, 0.5),
bool  destroy = false,
bool  frame_locked = false 
)

Definition at line 78 of file shape_tools.cpp.

Returns a hand description singleton.

Definition at line 160 of file hand_description.h.

Returns a MechanismInterface singleton.

Due to problems with waitForServer, it is not recommended to use multiple instances of the MechanismInterface in the same node. This function provides a singleton.

CAREFUL WITH MULTI-THREADED CODE!!!

Definition at line 408 of file mechanism_interface.h.


Variable Documentation

const std::string object_manipulator::ATTACHED_COLLISION_TOPIC = "attached_collision_object" [static]

Definition at line 65 of file mechanism_interface.cpp.

const std::string object_manipulator::CARTESIAN_COMMAND_SUFFIX = "/cart/command_pose" [static]

Definition at line 59 of file mechanism_interface.cpp.

const std::string object_manipulator::CHECK_STATE_VALIDITY_NAME = "environment_server/get_state_validity" [static]

Definition at line 47 of file mechanism_interface.cpp.

const std::string object_manipulator::FK_SERVICE_SUFFIX = "/get_fk" [static]

Definition at line 41 of file mechanism_interface.cpp.

const std::string object_manipulator::GRASP_STATUS_SUFFIX = "/grasp_status" [static]

Definition at line 45 of file mechanism_interface.cpp.

const std::string object_manipulator::HAND_POSTURE_ACTION_SUFFIX = "/hand_posture_execution" [static]

Definition at line 55 of file mechanism_interface.cpp.

const std::string object_manipulator::IK_QUERY_SERVICE_SUFFIX = "/get_ik_solver_info" [static]

Definition at line 44 of file mechanism_interface.cpp.

const std::string object_manipulator::IK_SERVICE_SUFFIX = "/constraint_aware_ik" [static]

Definition at line 40 of file mechanism_interface.cpp.

const std::string object_manipulator::INTERPOLATED_IK_SERVICE_SUFFIX = "/interpolated_ik" [static]

Definition at line 42 of file mechanism_interface.cpp.

const std::string object_manipulator::INTERPOLATED_IK_SET_PARAMS_SERVICE_SUFFIX = "/interpolated_ik_set_params" [static]

Definition at line 43 of file mechanism_interface.cpp.

const std::string object_manipulator::LIST_CONTROLLERS_SERVICE_NAME = "/list_controllers" [static]

Definition at line 58 of file mechanism_interface.cpp.

const std::string object_manipulator::MARKERS_NAMESPACE = "grasp_markers" [static]

Definition at line 42 of file grasp_marker_publisher.cpp.

const std::string object_manipulator::MARKERS_OUT_NAME = "grasp_execution_markers" [static]

Definition at line 41 of file grasp_marker_publisher.cpp.

const std::string object_manipulator::MOVE_ARM_ACTION_SUFFIX = "/move_arm" [static]

Definition at line 53 of file mechanism_interface.cpp.

const std::string object_manipulator::MOVE_ARM_CONSTRAINED_PLANNER_SERVICE_NAME = "ompl_planning/plan_kinematic_path" [static]

Definition at line 63 of file mechanism_interface.cpp.

const std::string object_manipulator::MOVE_ARM_PLANNER_ID = "SBLkConfig1" [static]

Definition at line 61 of file mechanism_interface.cpp.

const std::string object_manipulator::MOVE_ARM_PLANNER_SERVICE_NAME = "ompl_planning/plan_kinematic_path" [static]

Definition at line 62 of file mechanism_interface.cpp.

const std::string object_manipulator::NORMALIZE_SERVICE_NAME = "trajectory_filter_unnormalizer/filter_trajectory" [static]

Definition at line 48 of file mechanism_interface.cpp.

Definition at line 69 of file mechanism_interface.cpp.

Definition at line 70 of file mechanism_interface.cpp.

Definition at line 71 of file mechanism_interface.cpp.

const std::string object_manipulator::PICKUP_ACTION_NAME = "object_manipulator_pickup" [static]

Definition at line 47 of file object_manipulator_node.cpp.

const std::string object_manipulator::PLACE_ACTION_NAME = "object_manipulator_place" [static]

Definition at line 48 of file object_manipulator_node.cpp.

const std::string object_manipulator::POINT_HEAD_ACTION_TOPIC = "/head_traj_controller/point_head_action" [static]

Definition at line 67 of file mechanism_interface.cpp.

const std::string object_manipulator::REACTIVE_GRASP_ACTION_SUFFIX = "/reactive_grasp" [static]

Definition at line 50 of file mechanism_interface.cpp.

const std::string object_manipulator::REACTIVE_LIFT_ACTION_SUFFIX = "/reactive_lift" [static]

Definition at line 51 of file mechanism_interface.cpp.

const std::string object_manipulator::REACTIVE_PLACE_ACTION_SUFFIX = "/reactive_place" [static]

Definition at line 52 of file mechanism_interface.cpp.

const std::string object_manipulator::SWITCH_CONTROLLER_SERVICE_NAME = "/switch_controller" [static]

Definition at line 57 of file mechanism_interface.cpp.

const std::string object_manipulator::TRAJECTORY_ACTION_SUFFIX = "/joint_trajectory" [static]

Definition at line 54 of file mechanism_interface.cpp.

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