Oversees the grasping app; bundles together functionality in higher level calls. More...

#include <object_manipulator.h>

Public Member Functions
void	graspFeedback (actionlib::SimpleActionServer< object_manipulation_msgs::PickupAction > *action_server, size_t tested_grasps, size_t current_grasp)
	Provides feedback on the currently tested list of grasps.
void	graspPlanningDoneCallback (const actionlib::SimpleClientGoalState &state, const object_manipulation_msgs::GraspPlanningResultConstPtr &result)
	Saves the grasps provided as result by planning action.
void	graspPlanningFeedbackCallback (const object_manipulation_msgs::GraspPlanningFeedbackConstPtr &feedback)
	Saves the grasps provided as feedback by planning action.
	ObjectManipulator ()
	Initializes ros clients as needed.
void	pickup (const object_manipulation_msgs::PickupGoal::ConstPtr &pickup_goal, actionlib::SimpleActionServer< object_manipulation_msgs::PickupAction > *action_server)
	Attempts to grasp the specified object.
void	place (const object_manipulation_msgs::PlaceGoal::ConstPtr &place_goal, actionlib::SimpleActionServer< object_manipulation_msgs::PlaceAction > *action_server)
	Attempts to place the specified object.
void	placeFeedback (actionlib::SimpleActionServer< object_manipulation_msgs::PlaceAction > *action_server, size_t tested_places, size_t total_places, size_t current_place)
	Provides feedback on the currently tested list of places.
	~ObjectManipulator ()
Private Attributes
std::string	default_cluster_planner_
	The name of the service to be used by default for grasp planning on point cloud objects.
std::string	default_database_planner_
	The name of the service to be used by default for grasp planning on database objects.
std::string	default_probabilistic_planner_
	The name of the service to be used by default for probabilistic grasp planning.
GraspContainer	grasp_container_
	A thread safe place to hold grasps returned by the planning action as feedback.
GraspExecutorWithApproach *	grasp_executor_with_approach_
	Instance of the grasp executor with approach.
MultiArmActionWrapper < object_manipulation_msgs::GraspPlanningAction >	grasp_planning_actions_
	Wrapper for multiple grasp planning services with different names.
GraspTesterFast *	grasp_tester_fast_
GraspTester *	grasp_tester_with_approach_
std::string	kinematics_plugin_name_
	Name of the kinematics plugin used for fast grasp/place testing.
GraspMarkerPublisher *	marker_pub_
	Publisher for grasp markers, or NULL if publishing is disabled.
PlaceExecutor *	place_executor_
	Instance of the executor used for placing objects.
ros::NodeHandle	priv_nh_
	The private ROS node handle.
bool	randomize_grasps_
	Whether the order in which grasps are tried should be randomized first. Debug purposes.
ReactiveGraspExecutor *	reactive_grasp_executor_
	Instance of the reactive grasp executor.
GraspPerformer *	reactive_grasp_performer_
ReactivePlaceExecutor *	reactive_place_executor_
	Instance of the executor used for reactive placing of objects.
PlacePerformer *	reactive_place_performer_
ros::NodeHandle	root_nh_
	The root ROS node handle.
GraspPerformer *	standard_grasp_performer_
PlacePerformer *	standard_place_performer_
PlaceTester *	standard_place_tester_
UnsafeGraspExecutor *	unsafe_grasp_executor_
	Instance of the executor used for grasping without considering collisions.
GraspPerformer *	unsafe_grasp_performer_
GraspTester *	unsafe_grasp_tester_
bool	use_probabilistic_planner_

Detailed Description

Oversees the grasping app; bundles together functionality in higher level calls.

Also wraps the functionality in action replies, with the actual server passed in from the caller so we keep ROS instantiations somewhat separated.

Definition at line 127 of file object_manipulator.h.

Constructor & Destructor Documentation

object_manipulator::ObjectManipulator::ObjectManipulator ( )

Initializes ros clients as needed.

Definition at line 80 of file object_manipulator.cpp.

object_manipulator::ObjectManipulator::~ObjectManipulator ( )

Definition at line 139 of file object_manipulator.cpp.

Member Function Documentation

void object_manipulator::ObjectManipulator::graspFeedback	(	actionlib::SimpleActionServer< object_manipulation_msgs::PickupAction > *	action_server,
		size_t	tested_grasps,
		size_t	current_grasp
	)

Provides feedback on the currently tested list of grasps.

Definition at line 163 of file object_manipulator.cpp.

void object_manipulator::ObjectManipulator::graspPlanningDoneCallback	(	const actionlib::SimpleClientGoalState &	state,
		const object_manipulation_msgs::GraspPlanningResultConstPtr &	result
	)

Saves the grasps provided as result by planning action.

Definition at line 180 of file object_manipulator.cpp.

void object_manipulator::ObjectManipulator::graspPlanningFeedbackCallback ( const object_manipulation_msgs::GraspPlanningFeedbackConstPtr & feedback )

Saves the grasps provided as feedback by planning action.

Definition at line 173 of file object_manipulator.cpp.

void object_manipulator::ObjectManipulator::pickup	(	const object_manipulation_msgs::PickupGoal::ConstPtr &	pickup_goal,
		actionlib::SimpleActionServer< object_manipulation_msgs::PickupAction > *	action_server
	)

Attempts to grasp the specified object.

Definition at line 194 of file object_manipulator.cpp.

void object_manipulator::ObjectManipulator::place	(	const object_manipulation_msgs::PlaceGoal::ConstPtr &	place_goal,
		actionlib::SimpleActionServer< object_manipulation_msgs::PlaceAction > *	action_server
	)

Attempts to place the specified object.

Definition at line 436 of file object_manipulator.cpp.

void object_manipulator::ObjectManipulator::placeFeedback	(	actionlib::SimpleActionServer< object_manipulation_msgs::PlaceAction > *	action_server,
		size_t	tested_places,
		size_t	total_places,
		size_t	current_place
	)