#include <approach_lift_grasp.h>

Inheritance diagram for object_manipulator::GraspTesterWithApproach:

Protected Member Functions
virtual arm_navigation_msgs::OrderedCollisionOperations	collisionOperationsForGrasp (const object_manipulation_msgs::PickupGoal &pickup_goal, const manipulation_msgs::Grasp &grasp)
	Collision operations to be used when planning the grasp motion.
virtual arm_navigation_msgs::OrderedCollisionOperations	collisionOperationsForLift (const object_manipulation_msgs::PickupGoal &pickup_goal, const manipulation_msgs::Grasp &grasp)
	Collision operations to be used when planning the lift motion.
object_manipulation_msgs::GraspResult	getInterpolatedIKForGrasp (const object_manipulation_msgs::PickupGoal &pickup_goal, const manipulation_msgs::Grasp &grasp, GraspExecutionInfo &execution_info)
	Computes an interpolated IK trajectory between pre_grasp and grasp and checks if it has enough points.
object_manipulation_msgs::GraspResult	getInterpolatedIKForLift (const object_manipulation_msgs::PickupGoal &pickup_goal, const manipulation_msgs::Grasp &grasp, const std::vector< double > &grasp_joint_angles, GraspExecutionInfo &execution_info)
	Calls the interpolated IK service to find a path from the grasp to lift the object.
virtual std::vector < arm_navigation_msgs::LinkPadding >	linkPaddingForGrasp (const object_manipulation_msgs::PickupGoal &pickup_goal, const manipulation_msgs::Grasp &grasp)
	Dynamic link padding to be used for grasp operation.
virtual std::vector < arm_navigation_msgs::LinkPadding >	linkPaddingForLift (const object_manipulation_msgs::PickupGoal &pickup_goal, const manipulation_msgs::Grasp &grasp)
	Dynamic link padding to be used when planning the lift motion.
virtual void	testGrasp (const object_manipulation_msgs::PickupGoal &pickup_goal, const manipulation_msgs::Grasp &grasp, GraspExecutionInfo &execution_info)
	Tests a single grasp.
Static Protected Attributes
static float	EPS = 1.0e-6
	Epsilon margin of error used when checking trajectory lengths.

Detailed Description

Standard grasp tester, attempts to compute Interpolated IK trajectories for both approach and lift.

Definition at line 154 of file approach_lift_grasp.h.

Member Function Documentation

arm_navigation_msgs::OrderedCollisionOperations object_manipulator::GraspTesterWithApproach::collisionOperationsForGrasp	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		const manipulation_msgs::Grasp &	grasp
	)		`[protected, virtual]`

Collision operations to be used when planning the grasp motion.

Disable collisions between end-effector and target Disables ALL collisions on moved obstacles

Reimplemented in object_manipulator::UnsafeGraspTester.

Definition at line 192 of file approach_lift_grasp.cpp.

arm_navigation_msgs::OrderedCollisionOperations object_manipulator::GraspTesterWithApproach::collisionOperationsForLift	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		const manipulation_msgs::Grasp &	grasp
	)		`[protected, virtual]`

Collision operations to be used when planning the lift motion.

Disables collision between gripper and target Disables ALL collisions on moved obstacles

Reimplemented in object_manipulator::UnsafeGraspTester.

Definition at line 98 of file approach_lift_grasp.cpp.

GraspResult object_manipulator::GraspTesterWithApproach::getInterpolatedIKForGrasp	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		const manipulation_msgs::Grasp &	grasp,
		GraspExecutionInfo &	execution_info
	)		`[protected]`

Computes an interpolated IK trajectory between pre_grasp and grasp and checks if it has enough points.

Definition at line 247 of file approach_lift_grasp.cpp.

GraspResult object_manipulator::GraspTesterWithApproach::getInterpolatedIKForLift	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		const manipulation_msgs::Grasp &	grasp,
		const std::vector< double > &	grasp_joint_angles,
		GraspExecutionInfo &	execution_info
	)		`[protected]`

Calls the interpolated IK service to find a path from the grasp to lift the object.

Definition at line 144 of file approach_lift_grasp.cpp.

std::vector< arm_navigation_msgs::LinkPadding > object_manipulator::GraspTesterWithApproach::linkPaddingForGrasp	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		const manipulation_msgs::Grasp &	grasp
	)		`[protected, virtual]`

Dynamic link padding to be used for grasp operation.

Zero padding on gripper links

Definition at line 239 of file approach_lift_grasp.cpp.

std::vector< arm_navigation_msgs::LinkPadding > object_manipulator::GraspTesterWithApproach::linkPaddingForLift	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		const manipulation_msgs::Grasp &	grasp
	)		`[protected, virtual]`

Dynamic link padding to be used when planning the lift motion.

Zero padding on gripper

Definition at line 136 of file approach_lift_grasp.cpp.

void object_manipulator::GraspTesterWithApproach::testGrasp	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		const manipulation_msgs::Grasp &	grasp,
		GraspExecutionInfo &	execution_info
	)		`[protected, virtual]`

Tests a single grasp.

Implements object_manipulator::GraspTester.

Definition at line 299 of file approach_lift_grasp.cpp.

Member Data Documentation

float object_manipulator::GraspTesterWithApproach::EPS = 1.0e-6 [static, protected]

Epsilon margin of error used when checking trajectory lengths.

One thousandth of a mm.

Definition at line 195 of file approach_lift_grasp.h.

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

Protected Member Functions

Static Protected Attributes

Detailed Description

Member Function Documentation

Member Data Documentation