#include <pick_place.h>

Inheritance diagram for pick_place::PickPlace:

Public Member Functions
void	displayComputedMotionPlans (bool flag)
void	displayProcessedGrasps (bool flag)
const constraint_samplers::ConstraintSamplerManagerPtr &	getConstraintsSamplerManager () const
const planning_pipeline::PlanningPipelinePtr &	getPlanningPipeline () const
const robot_model::RobotModelConstPtr &	getRobotModel () const
	PickPlace (const planning_pipeline::PlanningPipelinePtr &planning_pipeline)
PickPlanPtr	planPick (const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::PickupGoal &goal) const
	Plan the sequence of motions that perform a pickup action.
PlacePlanPtr	planPlace (const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::PlaceGoal &goal) const
	Plan the sequence of motions that perform a placement action.
void	visualizeGrasp (const ManipulationPlanPtr &plan) const
void	visualizeGrasps (const std::vector< ManipulationPlanPtr > &plans) const
void	visualizePlan (const ManipulationPlanPtr &plan) const
Static Public Attributes
static const double	DEFAULT_GRASP_POSTURE_COMPLETION_DURATION = 7.0
static const std::string	DISPLAY_GRASP_TOPIC = "display_grasp_markers"
static const std::string	DISPLAY_PATH_TOPIC = planning_pipeline::PlanningPipeline::DISPLAY_PATH_TOPIC
Private Attributes
constraint_sampler_manager_loader::ConstraintSamplerManagerLoaderPtr	constraint_sampler_manager_loader_
bool	display_computed_motion_plans_
bool	display_grasps_
ros::Publisher	display_path_publisher_
ros::Publisher	grasps_publisher_
ros::NodeHandle	nh_
planning_pipeline::PlanningPipelinePtr	planning_pipeline_

Detailed Description

Definition at line 122 of file pick_place.h.

Constructor & Destructor Documentation

pick_place::PickPlace::PickPlace ( const planning_pipeline::PlanningPipelinePtr & planning_pipeline )

Definition at line 100 of file pick_place.cpp.

Member Function Documentation

void pick_place::PickPlace::displayComputedMotionPlans ( bool flag )

Definition at line 119 of file pick_place.cpp.

void pick_place::PickPlace::displayProcessedGrasps ( bool flag )

Definition at line 109 of file pick_place.cpp.

const constraint_samplers::ConstraintSamplerManagerPtr& pick_place::PickPlace::getConstraintsSamplerManager ( ) const [inline]

Definition at line 135 of file pick_place.h.

const planning_pipeline::PlanningPipelinePtr& pick_place::PickPlace::getPlanningPipeline ( ) const [inline]

Definition at line 140 of file pick_place.h.

const robot_model::RobotModelConstPtr& pick_place::PickPlace::getRobotModel ( ) const [inline]

Definition at line 145 of file pick_place.h.

PickPlanPtr pick_place::PickPlace::planPick	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const moveit_msgs::PickupGoal &	goal
	)		const

Plan the sequence of motions that perform a pickup action.

Definition at line 214 of file pick.cpp.

PlacePlanPtr pick_place::PickPlace::planPlace	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const moveit_msgs::PlaceGoal &	goal
	)		const