Public Member Functions
def	__init__
def	add_collision_box
	adds a single box to the map
def	attach_object_to_gripper
	attaches an object to the gripper for the purposes of collision-aware motion planning
def	clear_octomap
	clear everything in the octomap
def	detach_all_objects_from_gripper
	detaches all objects from the gripper (removes from collision space entirely)
def	detach_and_add_back_objects_attached_to_gripper
	detaches all objects from the gripper (adds back as objects in the collision space where they are now) object_collision_name is the original name for the collision object
def	get_next_object_name
	return the next unique collision object name
def	mat_to_pose
def	pose_to_mat
	convert a Pose message to a 4x4 scipy matrix
def	process_collision_geometry_for_cluster
	adds a cluster to the map as a bunch of small boxes
def	process_collision_geometry_for_table
def	remove_collision_object
	remove a single collision object from the map
def	reset_collision_map
	reset all the current collision objects
def	set_planning_scene
	set the planning scene (so IK and move_arm can run)
Public Attributes
	attached_object_pub
	object_in_map_current_id
	object_in_map_pub
	reset_collision_map_srv
	set_planning_scene_srv

Detailed Description

Definition at line 58 of file collision_map_interface.py.

Constructor & Destructor Documentation

def tabletop_collision_map_processing.collision_map_interface.CollisionMapInterface.__init__ ( self )

Definition at line 60 of file collision_map_interface.py.

Member Function Documentation

def tabletop_collision_map_processing.collision_map_interface.CollisionMapInterface.add_collision_box	(	self,
		box_pose,
		box_dims,
		frame_id,
		collision_name
	)

adds a single box to the map

Definition at line 237 of file collision_map_interface.py.

def tabletop_collision_map_processing.collision_map_interface.CollisionMapInterface.attach_object_to_gripper	(	self,
		object_name,
		whicharm = `'r'`
	)

attaches an object to the gripper for the purposes of collision-aware motion planning

Definition at line 128 of file collision_map_interface.py.

def tabletop_collision_map_processing.collision_map_interface.CollisionMapInterface.clear_octomap ( self )

clear everything in the octomap

Definition at line 96 of file collision_map_interface.py.

def tabletop_collision_map_processing.collision_map_interface.CollisionMapInterface.detach_all_objects_from_gripper	(	self,
		whicharm = `'r'`
	)

detaches all objects from the gripper (removes from collision space entirely)

Definition at line 144 of file collision_map_interface.py.

def tabletop_collision_map_processing.collision_map_interface.CollisionMapInterface.detach_and_add_back_objects_attached_to_gripper	(	self,
		whicharm = `'r'`,
		object_collision_name = `None`
	)

detaches all objects from the gripper (adds back as objects in the collision space where they are now) object_collision_name is the original name for the collision object

Definition at line 158 of file collision_map_interface.py.

def tabletop_collision_map_processing.collision_map_interface.CollisionMapInterface.get_next_object_name ( self )

return the next unique collision object name

Definition at line 230 of file collision_map_interface.py.

def tabletop_collision_map_processing.collision_map_interface.CollisionMapInterface.mat_to_pose	(	self,
		mat
	)

Definition at line 186 of file collision_map_interface.py.

def tabletop_collision_map_processing.collision_map_interface.CollisionMapInterface.pose_to_mat	(	self,
		pose
	)

convert a Pose message to a 4x4 scipy matrix

Definition at line 177 of file collision_map_interface.py.

def tabletop_collision_map_processing.collision_map_interface.CollisionMapInterface.process_collision_geometry_for_cluster	(	self,
		cluster
	)

adds a cluster to the map as a bunch of small boxes

Definition at line 254 of file collision_map_interface.py.

def tabletop_collision_map_processing.collision_map_interface.CollisionMapInterface.process_collision_geometry_for_table	(	self,
		firsttable,
		additional_tables = `[]`
	)

Definition at line 200 of file collision_map_interface.py.

def tabletop_collision_map_processing.collision_map_interface.CollisionMapInterface.remove_collision_object	(	self,
		collision_name
	)

remove a single collision object from the map

Definition at line 286 of file collision_map_interface.py.

def tabletop_collision_map_processing.collision_map_interface.CollisionMapInterface.reset_collision_map ( self )

reset all the current collision objects

Definition at line 101 of file collision_map_interface.py.

def tabletop_collision_map_processing.collision_map_interface.CollisionMapInterface.set_planning_scene	(	self,
		ordered_collision_ops = `None`,
		link_padding = `None`
	)