00001 /* 00002 * UOS-ROS packages - Robot Operating System code by the University of Osnabrück 00003 * Copyright (C) 2012 University of Osnabrück 00004 * 00005 * This program is free software; you can redistribute it and/or 00006 * modify it under the terms of the GNU General Public License 00007 * as published by the Free Software Foundation; either version 2 00008 * of the License, or (at your option) any later version. 00009 * 00010 * This program is distributed in the hope that it will be useful, 00011 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00012 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00013 * GNU General Public License for more details. 00014 * 00015 * You should have received a copy of the GNU General Public License 00016 * along with this program; if not, write to the Free Software 00017 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. 00018 * 00019 * grasp_planner.h 00020 * 00021 * Created on: 17.11.2012 00022 * Author: Martin Günther <mguenthe@uos.de> 00023 */ 00024 00025 #ifndef GRASP_PLANNER_H_ 00026 #define GRASP_PLANNER_H_ 00027 00028 #include <ros/ros.h> 00029 #include <tf/transform_broadcaster.h> 00030 #include <pluginlib/class_loader.h> 00031 #include <kinematics_base/kinematics_base.h> 00032 00033 #include <actionlib/server/simple_action_server.h> 00034 #include <sensor_msgs/JointState.h> 00035 #include <object_manipulation_msgs/GraspPlanningAction.h> 00036 #include <object_manipulation_msgs/GraspPlanningErrorCode.h> 00037 00038 namespace katana_simple_grasp_planner 00039 { 00040 00041 class GraspPlanner 00042 { 00043 public: 00044 GraspPlanner(); 00045 virtual ~GraspPlanner(); 00046 00047 void main_loop(); 00048 00049 private: 00050 tf::TransformBroadcaster tf_broadcaster_; 00051 00052 pluginlib::ClassLoader<kinematics::KinematicsBase> kinematics_loader_; 00053 boost::shared_ptr<kinematics::KinematicsBase> kinematics_solver_; 00054 00055 ros::NodeHandle nh_; 00056 actionlib::SimpleActionServer<object_manipulation_msgs::GraspPlanningAction> as_; 00057 00058 sensor_msgs::JointState pre_grasp_joint_state_; 00059 sensor_msgs::JointState grasp_joint_state_; 00060 00061 00062 std::vector<tf::Transform> generate_grasps(double x, double y, double z); 00063 std::vector<double> get_ik(tf::Transform grasp_tf); 00064 00065 void execute_cb(const object_manipulation_msgs::GraspPlanningGoalConstPtr &goal); 00066 }; 00067 00068 } /* namespace katana_simple_grasp_planner */ 00069 #endif /* GRASP_PLANNER_H_ */
