#include <grasp_tester_fast.h>

Inheritance diagram for object_manipulator::GraspTesterFast:

Public Member Functions
void	getGroupJoints (const std::string &group_name, std::vector< std::string > &group_links)
void	getGroupLinks (const std::string &group_name, std::vector< std::string > &group_links)
	GraspTesterFast (planning_environment::CollisionModels *cm=NULL, const std::string &plugin_name="pr2_arm_kinematics/PR2ArmKinematicsPlugin")
	Also adds a grasp marker at the pre-grasp location.
void	setPlanningSceneState (planning_models::KinematicState *state)
virtual void	testGrasps (const object_manipulation_msgs::PickupGoal &pickup_goal, const std::vector< object_manipulation_msgs::Grasp > &grasps, std::vector< GraspExecutionInfo > &execution_info, bool return_on_first_hit)
	Tests a set of grasps and provides their execution info.
	~GraspTesterFast ()
Public Attributes
pluginlib::ClassLoader < kinematics::KinematicsBase >	kinematics_loader_
Protected Member Functions
planning_environment::CollisionModels *	getCollisionModels ()
bool	getInterpolatedIK (const std::string &arm_name, const tf::Transform &first_pose, const tf::Vector3 &direction, const double &distance, const std::vector< double > &ik_solution, const bool &reverse, const bool &premultiply, trajectory_msgs::JointTrajectory &traj)
planning_models::KinematicState *	getPlanningSceneState ()
virtual std::vector < arm_navigation_msgs::LinkPadding >	linkPaddingForGrasp (const object_manipulation_msgs::PickupGoal &pickup_goal)
	Dynamic link padding to be used for grasp operation.
virtual void	testGrasp (const object_manipulation_msgs::PickupGoal &pickup_goal, const object_manipulation_msgs::Grasp &grasp, GraspExecutionInfo &execution_info)
	Tests a single grasp.
Protected Attributes
planning_environment::CollisionModels *	cm_
double	consistent_angle_
std::map< std::string, arm_kinematics_constraint_aware::ArmKinematicsSolverConstraintAware * >	ik_solver_map_
unsigned int	num_points_
unsigned int	redundancy_
planning_models::KinematicState *	state_
ros::Publisher	vis_marker_array_publisher_
ros::Publisher	vis_marker_publisher_

Detailed Description

Definition at line 74 of file grasp_tester_fast.h.

Constructor & Destructor Documentation

object_manipulator::GraspTesterFast::GraspTesterFast	(	planning_environment::CollisionModels *	cm = `NULL`,
		const std::string &	plugin_name = `"pr2_arm_kinematics/PR2ArmKinematicsPlugin"`
	)

Also adds a grasp marker at the pre-grasp location.

Definition at line 156 of file grasp_tester_fast.cpp.

object_manipulator::GraspTesterFast::~GraspTesterFast ( )

Definition at line 196 of file grasp_tester_fast.cpp.

Member Function Documentation

planning_environment::CollisionModels * object_manipulator::GraspTesterFast::getCollisionModels ( void ) [protected]

Definition at line 205 of file grasp_tester_fast.cpp.

void object_manipulator::GraspTesterFast::getGroupJoints	(	const std::string &	group_name,
		std::vector< std::string > &	group_links
	)

Definition at line 249 of file grasp_tester_fast.cpp.

void object_manipulator::GraspTesterFast::getGroupLinks	(	const std::string &	group_name,
		std::vector< std::string > &	group_links
	)

Definition at line 239 of file grasp_tester_fast.cpp.

bool object_manipulator::GraspTesterFast::getInterpolatedIK	(	const std::string &	arm_name,
		const tf::Transform &	first_pose,
		const tf::Vector3 &	direction,
		const double &	distance,
		const std::vector< double > &	ik_solution,
		const bool &	reverse,
		const bool &	premultiply,
		trajectory_msgs::JointTrajectory &	traj
	)		`[protected]`

Definition at line 259 of file grasp_tester_fast.cpp.

planning_models::KinematicState * object_manipulator::GraspTesterFast::getPlanningSceneState ( ) [protected]

Definition at line 213 of file grasp_tester_fast.cpp.

std::vector< arm_navigation_msgs::LinkPadding > object_manipulator::GraspTesterFast::linkPaddingForGrasp ( const object_manipulation_msgs::PickupGoal & pickup_goal ) [protected, virtual]

Dynamic link padding to be used for grasp operation.

Zero padding on fingertip links

Definition at line 231 of file grasp_tester_fast.cpp.

void object_manipulator::GraspTesterFast::setPlanningSceneState ( planning_models::KinematicState * state ) [inline]

Definition at line 122 of file grasp_tester_fast.h.

void object_manipulator::GraspTesterFast::testGrasp	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		const object_manipulation_msgs::Grasp &	grasp,
		GraspExecutionInfo &	execution_info
	)		`[protected, virtual]`

Tests a single grasp.

Implements object_manipulator::GraspTester.

Definition at line 298 of file grasp_tester_fast.cpp.

void object_manipulator::GraspTesterFast::testGrasps	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		const std::vector< object_manipulation_msgs::Grasp > &	grasps,
		std::vector< GraspExecutionInfo > &	execution_info,
		bool	return_on_first_hit
	)		`[virtual]`

Tests a set of grasps and provides their execution info.

Reimplemented from object_manipulator::GraspTester.

Definition at line 302 of file grasp_tester_fast.cpp.

Member Data Documentation

planning_environment::CollisionModels* object_manipulator::GraspTesterFast::cm_ [protected]

Definition at line 109 of file grasp_tester_fast.h.

double object_manipulator::GraspTesterFast::consistent_angle_ [protected]

Definition at line 99 of file grasp_tester_fast.h.

std::map<std::string, arm_kinematics_constraint_aware::ArmKinematicsSolverConstraintAware*> object_manipulator::GraspTesterFast::ik_solver_map_ [protected]

Definition at line 96 of file grasp_tester_fast.h.

pluginlib::ClassLoader<kinematics::KinematicsBase> object_manipulator::GraspTesterFast::kinematics_loader_

Definition at line 114 of file grasp_tester_fast.h.

unsigned int object_manipulator::GraspTesterFast::num_points_ [protected]

Definition at line 100 of file grasp_tester_fast.h.

unsigned int object_manipulator::GraspTesterFast::redundancy_ [protected]

Definition at line 101 of file grasp_tester_fast.h.

planning_models::KinematicState* object_manipulator::GraspTesterFast::state_ [protected]

Definition at line 110 of file grasp_tester_fast.h.

ros::Publisher object_manipulator::GraspTesterFast::vis_marker_array_publisher_ [protected]

Definition at line 103 of file grasp_tester_fast.h.

ros::Publisher object_manipulator::GraspTesterFast::vis_marker_publisher_ [protected]