segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.ClusteredClutterGraspPlanner Class Reference

List of all members.

Public Member Functions
def	__init__
def	call_plan_point_cluster_grasp
def	call_set_point_cluster_grasp_params
def	find_grasps
def	plan_grasps_for_target
	return grasps for either a service or action request
def	plan_segmented_clutter_grasps_callback
	service callback for the plan_segmented_clutter_grasps service
def	process_point_cloud
	call the find_container_action to remove parallel-to-container-side points and cluster the contents
def	segmented_clutter_grasps_execute_cb
	action callback for the segmented_clutter_grasps_action
Public Attributes
	tf_listener
Private Attributes
	_as
	_cluster_grasp_params_srv
	_cluster_grasp_srv
	_cluster_planner_name
	_container_client
	_opening_dir_list
	_planning_scene_srv
	_pregrasp_just_outside_box

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Detailed Description

Definition at line 57 of file segmented_clutter_grasp_planner.py.

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Constructor & Destructor Documentation

def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.ClusteredClutterGraspPlanner.__init__	(		self,
			tf_listener = None,
			advertise_service = False,
			advertise_action = True
	)

Definition at line 59 of file segmented_clutter_grasp_planner.py.

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Member Function Documentation

def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.ClusteredClutterGraspPlanner.call_plan_point_cluster_grasp	(		self,
			cluster,
			arm_name,
			reference_frame_id,
			side = False
	)

Definition at line 193 of file segmented_clutter_grasp_planner.py.

def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.ClusteredClutterGraspPlanner.call_set_point_cluster_grasp_params	(		self,
			side = False,
			pregrasp_just_outside_box = False
	)

Definition at line 210 of file segmented_clutter_grasp_planner.py.

def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.ClusteredClutterGraspPlanner.find_grasps	(		self,
			point_cloud,
			box_pose,
			box_dims,
			arm_name,
			reference_frame_id,
			opening_dir
	)

Definition at line 236 of file segmented_clutter_grasp_planner.py.

def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.ClusteredClutterGraspPlanner.plan_grasps_for_target	(		self,
			target,
			arm_name
	)

return grasps for either a service or action request

Definition at line 142 of file segmented_clutter_grasp_planner.py.

def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.ClusteredClutterGraspPlanner.plan_segmented_clutter_grasps_callback	(		self,
			req
	)

service callback for the plan_segmented_clutter_grasps service

Definition at line 123 of file segmented_clutter_grasp_planner.py.

def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.ClusteredClutterGraspPlanner.process_point_cloud	(		self,
			point_cloud,
			box_pose,
			box_dims,
			opening_dir
	)

call the find_container_action to remove parallel-to-container-side points and cluster the contents

Definition at line 173 of file segmented_clutter_grasp_planner.py.

def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.ClusteredClutterGraspPlanner.segmented_clutter_grasps_execute_cb	(		self,
			goal
	)

action callback for the segmented_clutter_grasps_action

Definition at line 133 of file segmented_clutter_grasp_planner.py.

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Member Data Documentation

segmented_clutter_grasp_planner::segmented_clutter_grasp_planner.ClusteredClutterGraspPlanner::_as [private]

Definition at line 59 of file segmented_clutter_grasp_planner.py.

segmented_clutter_grasp_planner::segmented_clutter_grasp_planner.ClusteredClutterGraspPlanner::_cluster_grasp_params_srv [private]

Definition at line 59 of file segmented_clutter_grasp_planner.py.

segmented_clutter_grasp_planner::segmented_clutter_grasp_planner.ClusteredClutterGraspPlanner::_cluster_grasp_srv [private]

Definition at line 59 of file segmented_clutter_grasp_planner.py.

segmented_clutter_grasp_planner::segmented_clutter_grasp_planner.ClusteredClutterGraspPlanner::_cluster_planner_name [private]

Definition at line 59 of file segmented_clutter_grasp_planner.py.

segmented_clutter_grasp_planner::segmented_clutter_grasp_planner.ClusteredClutterGraspPlanner::_container_client [private]

Definition at line 59 of file segmented_clutter_grasp_planner.py.

segmented_clutter_grasp_planner::segmented_clutter_grasp_planner.ClusteredClutterGraspPlanner::_opening_dir_list [private]

Definition at line 59 of file segmented_clutter_grasp_planner.py.

segmented_clutter_grasp_planner::segmented_clutter_grasp_planner.ClusteredClutterGraspPlanner::_planning_scene_srv [private]

Definition at line 59 of file segmented_clutter_grasp_planner.py.

segmented_clutter_grasp_planner::segmented_clutter_grasp_planner.ClusteredClutterGraspPlanner::_pregrasp_just_outside_box [private]

Definition at line 59 of file segmented_clutter_grasp_planner.py.

segmented_clutter_grasp_planner::segmented_clutter_grasp_planner.ClusteredClutterGraspPlanner::tf_listener

Definition at line 59 of file segmented_clutter_grasp_planner.py.

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The documentation for this class was generated from the following file:

• segmented_clutter_grasp_planner.py