Classes | Public Member Functions | Private Types | Private Member Functions | Private Attributes
pr2_interactive_manipulation::InteractiveManipulationBackend Class Reference

#include <interactive_manipulation_backend.h>

List of all members.

Classes

struct  GraspInfo

Public Member Functions

 InteractiveManipulationBackend ()
 ~InteractiveManipulationBackend ()

Private Types

enum  Action { PICKUP, PLACE, MOVE }

Private Member Functions

void actionCallback (const pr2_object_manipulation_msgs::IMGUIGoalConstPtr &goal)
void armMotion (int arm_selection_choice, int arm_action_choice, int arm_planner_choice, bool collision, object_manipulation_msgs::ManipulationResult &result)
int callGhostedGripper (const pr2_object_manipulation_msgs::GetGripperPoseGoal &goal, pr2_object_manipulation_msgs::GetGripperPoseResult &result)
int callGhostedGripperMove (std::string arm_name, geometry_msgs::PoseStamped &location)
int callGhostedGripperPickup (std::string arm_name, manipulation_msgs::Grasp &grasp)
bool checkInterrupts ()
void collisionReset (int reset_choice, int arm_selection_choice)
bool getGrasp (manipulation_msgs::Grasp &grasp, std::string arm_name, geometry_msgs::PoseStamped grasp_pose, float gripper_opening)
GraspInfogetGraspInfo (std::string arm_name)
void imageClickCallback (const pr2_object_manipulation_msgs::ImageClickConstPtr &click)
bool interruptRequested ()
void lookAtCallback (const geometry_msgs::PointStampedConstPtr &lookatPS)
void lookAtTable ()
int modelObject (pr2_object_manipulation_msgs::IMGUIOptions options)
void openCloseGripper (pr2_object_manipulation_msgs::IMGUIOptions options)
void pickupFeedbackCallback (const object_manipulation_msgs::PickupFeedbackConstPtr &feedback)
int pickupObject (const pr2_object_manipulation_msgs::IMGUIOptions &options, manipulation_msgs::GraspableObject object=manipulation_msgs::GraspableObject())
int placeObject (const pr2_object_manipulation_msgs::IMGUIOptions &options)
int plannedMove (const pr2_object_manipulation_msgs::IMGUIOptions &options)
bool processCollisionMapForPickup (const pr2_object_manipulation_msgs::IMGUIOptions &options, object_manipulation_msgs::PickupGoal &goal)
int runScriptedAction (std::string action_name, std::string group_name, pr2_object_manipulation_msgs::IMGUIOptions options)
void setStatusLabel (std::string text)
void testGripperPoseCallback (const pr2_object_manipulation_msgs::TestGripperPoseGoalConstPtr &goal)
void testGripperPoseForGraspCallback (const pr2_object_manipulation_msgs::TestGripperPoseGoalConstPtr &goal)
void testGripperPoseForMoveCallback (const pr2_object_manipulation_msgs::TestGripperPoseGoalConstPtr &goal)
void testGripperPoseForPlaceCallback (const pr2_object_manipulation_msgs::TestGripperPoseGoalConstPtr &goal)

Private Attributes

std::string action_name_
actionlib::SimpleActionServer
< pr2_object_manipulation_msgs::IMGUIAction > * 
action_server_
double cartesian_angle_tol_
double cartesian_dist_tol_
double cartesian_overshoot_angle_
double cartesian_overshoot_dist_
object_manipulator::ServiceWrapper
< std_srvs::Empty > 
collider_node_reset_srv_
tabletop_collision_map_processing::CollisionMapInterface collision_map_interface_
object_manipulator::ActionWrapper
< pr2_create_object_model::ModelObjectInHandAction
create_model_client_
Action current_action_
object_manipulation_msgs::PickupGoal current_pickup_goal_
object_manipulation_msgs::PlaceGoal current_place_goal_
object_manipulator::ActionWrapper
< pr2_object_manipulation_msgs::GetGripperPoseAction
get_gripper_pose_client_
GraspInfo grasp_info_left_
GraspInfo grasp_info_right_
pr2_wrappers::GripperController gripper_client_
object_manipulator::IKTesterFast ik_tester_fast_
std::string image_click_name_
ros::Subscriber image_click_sub_
ros::Publisher in_hand_object_left_pub_
ros::Publisher in_hand_object_right_pub_
std::string interactive_manipulation_status_name_
tf::TransformListener listener_
ros::Subscriber lookat_sub_
object_manipulator::MechanismInterface mech_interface_
object_manipulator::ActionWrapper
< move_base_msgs::MoveBaseAction
move_base_client_
sensor_msgs::PointCloud2 object_model_left_
sensor_msgs::PointCloud2 object_model_right_
pr2_object_manipulation_msgs::IMGUIOptions options_
object_manipulator::ActionWrapper
< object_manipulation_msgs::PickupAction
pickup_client_
boost::mutex pipeline_mutex_
object_manipulator::ActionWrapper
< object_manipulation_msgs::PlaceAction
place_client_
ros::NodeHandle priv_nh_
ros::NodeHandle root_nh_
object_manipulator::ActionWrapper
< pr2_object_manipulation_msgs::RunScriptAction
run_script_client_
ros::Publisher status_pub_
std::string test_gripper_pose_action_name_
actionlib::SimpleActionServer
< pr2_object_manipulation_msgs::TestGripperPoseAction > * 
test_gripper_pose_server_

Detailed Description

Definition at line 76 of file interactive_manipulation_backend.h.


Member Enumeration Documentation

Enumerator:
PICKUP 
PLACE 
MOVE 

Definition at line 211 of file interactive_manipulation_backend.h.


Constructor & Destructor Documentation

Definition at line 84 of file interactive_manipulation_backend.cpp.

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Member Function Documentation

Definition at line 137 of file interactive_manipulation_backend.cpp.

void pr2_interactive_manipulation::InteractiveManipulationBackend::armMotion ( int  arm_selection_choice,
int  arm_action_choice,
int  arm_planner_choice,
bool  collision,
object_manipulation_msgs::ManipulationResult result 
) [private]

Definition at line 903 of file interactive_manipulation_backend.cpp.

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int pr2_interactive_manipulation::InteractiveManipulationBackend::callGhostedGripperMove ( std::string  arm_name,
geometry_msgs::PoseStamped &  location 
) [private]

Definition at line 1232 of file interactive_manipulation_backend.cpp.

int pr2_interactive_manipulation::InteractiveManipulationBackend::callGhostedGripperPickup ( std::string  arm_name,
manipulation_msgs::Grasp &  grasp 
) [private]

Definition at line 1216 of file interactive_manipulation_backend.cpp.

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void pr2_interactive_manipulation::InteractiveManipulationBackend::collisionReset ( int  reset_choice,
int  arm_selection_choice 
) [private]

Definition at line 845 of file interactive_manipulation_backend.cpp.

bool pr2_interactive_manipulation::InteractiveManipulationBackend::getGrasp ( manipulation_msgs::Grasp &  grasp,
std::string  arm_name,
geometry_msgs::PoseStamped  grasp_pose,
float  gripper_opening 
) [private]

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void pr2_interactive_manipulation::InteractiveManipulationBackend::lookAtCallback ( const geometry_msgs::PointStampedConstPtr &  lookatPS) [private]

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int pr2_interactive_manipulation::InteractiveManipulationBackend::pickupObject ( const pr2_object_manipulation_msgs::IMGUIOptions options,
manipulation_msgs::GraspableObject  object = manipulation_msgs::GraspableObject() 
) [private]

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int pr2_interactive_manipulation::InteractiveManipulationBackend::runScriptedAction ( std::string  action_name,
std::string  group_name,
pr2_object_manipulation_msgs::IMGUIOptions  options 
) [private]

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Member Data Documentation

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


pr2_interactive_manipulation
Author(s): Matei Ciocarlie, Kaijen Hsiao, Adam Leeper
autogenerated on Mon Oct 6 2014 12:55:34