A class for finding grasp poses. More...

#include <grasp_adjust.h>

Classes
struct	params
Public Types
typedef pr2_grasp_adjust::EstimateConfig	Config
typedef pr2_grasp_adjust::DebugConfig	Debug
Public Member Functions
int	findGrasps (const geometry_msgs::PoseStamped &grasp_pose_in, std::vector< geometry_msgs::PoseStamped > adjusted_poses, std::vector< double > pose_scores, int search_mode=0, std::string common_frame=std::string("base_footprint"))
	The function that performs the whole grasp adjustment.
int	findGrasps (const geometry_msgs::PoseStamped &grasp_pose_in, std::priority_queue< GripperModel, std::vector< GripperModel >, GripperModel::compareModels > *ranked_poses, int search_mode=0, std::string common_frame=std::string("base_footprint"))
	The function that performs the whole grasp adjustment.
	GraspAdjust ()
void	setInputCloud (const pcl::PointCloud< PointT > &cloud)
	The function that performs the whole grasp adjustment.
Public Attributes
tf::TransformBroadcaster *	broadcaster_
tf::Vector3	centroid_
pcl::PointCloud< PointT >	cloud_in_
pcl::PointCloud< PointT >	cloud_out_
pcl::PointCloud< PointT >	cloud_process_
Config	config_
Debug	debug_
const GripperModel	DEFAULT_GRIPPER
bool	got_first_cloud_
pcl::PointCloud< PointT >	last_cloud_
tf::TransformListener *	listener_
ros::NodeHandle	nh_
ros::NodeHandle	nh_pvt_
ros::Time	now_
ros::Publisher *	pub_cloud_
ros::Publisher *	pub_cloud_roi_
ros::Publisher *	pub_marker_
ros::Publisher *	pub_marker_array_
GripperModel	starting_gripper_
std::ofstream	train_file_
bool	training_
FeatureWeights	weights_
Private Member Functions
bool	doGradientDescent (GripperModel &seed, int steps)
	Performs a gradient descent for a presecribed number of steps, returns true if it ended on a local minimum.

Detailed Description

A class for finding grasp poses.

This description is displayed lower in the doxygen as an extended description along with the above brief description.

Definition at line 82 of file grasp_adjust.h.

Member Typedef Documentation

typedef pr2_grasp_adjust::EstimateConfig GraspAdjust::Config

Definition at line 105 of file grasp_adjust.h.

typedef pr2_grasp_adjust::DebugConfig GraspAdjust::Debug

Definition at line 108 of file grasp_adjust.h.

Constructor & Destructor Documentation

GraspAdjust::GraspAdjust ( )

Definition at line 87 of file grasp_adjust.cpp.

Member Function Documentation

bool GraspAdjust::doGradientDescent	(	GripperModel &	seed,
		int	steps
	)		`[private]`

Performs a gradient descent for a presecribed number of steps, returns true if it ended on a local minimum.

This description is displayed lower in the doxygen as an extended description along with the above brief description.

Parameters:

seed	The gripper model starting position for the descent.
steps	The number of steps to use.

Definition at line 124 of file grasp_adjust.cpp.

int GraspAdjust::findGrasps	(	const geometry_msgs::PoseStamped &	grasp_pose_in,
		std::vector< geometry_msgs::PoseStamped > *	adjusted_poses,
		std::vector< double > *	pose_scores,
		int	search_mode = `0`,
		std::string	common_frame = `std::string("base_footprint")`
	)

The function that performs the whole grasp adjustment.

This description is displayed lower in the doxygen as an extended description along with the above brief description.

Parameters:

grasp_pose	The starting pose for evaluation.
adjusted_poses	A vector for returning the candidate poses.
search_mode	Selects between a local or global search or single pose (which is for debugging).
common_frame	The frame to which everything is transformed (base_footprint is probably the best).

Definition at line 221 of file grasp_adjust.cpp.

int GraspAdjust::findGrasps	(	const geometry_msgs::PoseStamped &	grasp_pose_in,
		std::priority_queue< GripperModel, std::vector< GripperModel >, GripperModel::compareModels > *	ranked_poses,
		int	search_mode = `0`,
		std::string	common_frame = `std::string("base_footprint")`
	)

The function that performs the whole grasp adjustment.

This description is displayed lower in the doxygen as an extended description along with the above brief description.

Parameters:

grasp_pose	The starting pose for evaluation.
adjusted_poses	A vector for returning the candidate poses.
search_mode	Selects between a local or global search or single pose (which is for debugging).
common_frame	The frame to which everything is transformed (base_footprint is probably the best).

Definition at line 256 of file grasp_adjust.cpp.

void GraspAdjust::setInputCloud ( const pcl::PointCloud< PointT > & cloud )

The function that performs the whole grasp adjustment.

This description is displayed lower in the doxygen as an extended description along with the above brief description.

Parameters:

grasp_pose	The starting pose for evaluation.
adjusted_poses	A vector for returning the candidate poses.
search_mode	Selects between a local or global search or single pose (which is for debugging).
common_frame	The frame to which everything is transformed (base_footprint is probably the best).

Definition at line 110 of file grasp_adjust.cpp.