#include <place_tester_fast.h>

Inheritance diagram for object_manipulator::PlaceTesterFast:

Public Member Functions
	PlaceTesterFast (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)
void	testPlaces (const object_manipulation_msgs::PlaceGoal &place_goal, const std::vector< geometry_msgs::PoseStamped > &place_locations, std::vector< PlaceExecutionInfo > &execution_info, bool return_on_first_hit)
	Tests a set of place locations and provides their execution info.
	~PlaceTesterFast ()
Public Attributes
pluginlib::ClassLoader < kinematics::KinematicsBase >	kinematics_loader_
Protected Member Functions
geometry_msgs::Vector3	doNegate (const geometry_msgs::Vector3 &vec)
planning_environment::CollisionModels *	getCollisionModels ()
void	getGroupLinks (const std::string &group_name, std::vector< std::string > &group_links)
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 ()
std::vector < arm_navigation_msgs::LinkPadding >	linkPaddingForPlace (const object_manipulation_msgs::PlaceGoal &place_goal)
	Dynamic link padding to be used for grasp operation.
virtual void	testPlace (const object_manipulation_msgs::PlaceGoal &placre_goal, const geometry_msgs::PoseStamped &place_locations, PlaceExecutionInfo &execution_info)
	Tests a single place location.
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 47 of file place_tester_fast.h.

Constructor & Destructor Documentation

object_manipulator::PlaceTesterFast::PlaceTesterFast	(	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 47 of file place_tester_fast.cpp.

object_manipulator::PlaceTesterFast::~PlaceTesterFast ( )

Definition at line 89 of file place_tester_fast.cpp.

Member Function Documentation

geometry_msgs::Vector3 object_manipulator::PlaceTesterFast::doNegate ( const geometry_msgs::Vector3 & vec ) [inline, protected]

Definition at line 51 of file place_tester_fast.h.

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

Definition at line 98 of file place_tester_fast.cpp.

void object_manipulator::PlaceTesterFast::getGroupLinks	(	const std::string &	group_name,
		std::vector< std::string > &	group_links
	)		`[protected]`

Definition at line 135 of file place_tester_fast.cpp.

bool object_manipulator::PlaceTesterFast::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 145 of file place_tester_fast.cpp.

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

Definition at line 106 of file place_tester_fast.cpp.

std::vector< arm_navigation_msgs::LinkPadding > object_manipulator::PlaceTesterFast::linkPaddingForPlace ( const object_manipulation_msgs::PlaceGoal & place_goal ) [protected]

Dynamic link padding to be used for grasp operation.

Zero padding on fingertip links

Definition at line 124 of file place_tester_fast.cpp.

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

Definition at line 102 of file place_tester_fast.h.

void object_manipulator::PlaceTesterFast::testPlace	(	const object_manipulation_msgs::PlaceGoal &	place_goal,
		const geometry_msgs::PoseStamped &	place_location,
		PlaceExecutionInfo &	execution_info
	)		`[protected, virtual]`

Tests a single place location.

Implements object_manipulator::PlaceTester.

Definition at line 182 of file place_tester_fast.cpp.

void object_manipulator::PlaceTesterFast::testPlaces	(	const object_manipulation_msgs::PlaceGoal &	place_goal,
		const std::vector< geometry_msgs::PoseStamped > &	place_locations,
		std::vector< PlaceExecutionInfo > &	execution_info,
		bool	return_on_first_hit
	)		`[virtual]`

Tests a set of place locations and provides their execution info.

Reimplemented from object_manipulator::PlaceTester.

Definition at line 188 of file place_tester_fast.cpp.

Member Data Documentation

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

Definition at line 92 of file place_tester_fast.h.

double object_manipulator::PlaceTesterFast::consistent_angle_ [protected]

Definition at line 82 of file place_tester_fast.h.

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

Definition at line 79 of file place_tester_fast.h.

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

Definition at line 111 of file place_tester_fast.h.

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

Definition at line 83 of file place_tester_fast.h.

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

Definition at line 84 of file place_tester_fast.h.

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

Definition at line 93 of file place_tester_fast.h.

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

Definition at line 86 of file place_tester_fast.h.

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