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probabilistic_grasp_planner::ClusterPlannerGraspRetriever Class Reference

#include <grasp_retriever.h>

Inheritance diagram for probabilistic_grasp_planner::ClusterPlannerGraspRetriever:
Inheritance graph
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List of all members.

Public Member Functions

 ClusterPlannerGraspRetriever (ros::NodeHandle &nh, const std::string &cluster_planner_name, const object_manipulation_msgs::GraspableObject &graspable_object, const std::string &arm_name)
virtual void getGrasps (std::vector< GraspWithMetadata > &grasps)

Protected Member Functions

void appendGraspsFromClusterPlanner (std::vector< GraspWithMetadata > &grasps)
virtual void fetchFromPlanner (const object_manipulation_msgs::GraspableObject &graspable_object)

Private Attributes

sensor_msgs::PointCloud cloud_
ros::ServiceClient cluster_planner_srv_
std::vector
< object_manipulation_msgs::Grasp
grasps_from_cluster_planner_
tf::TransformBroadcaster tf_broadcaster

Detailed Description

Definition at line 202 of file grasp_retriever.h.


Constructor & Destructor Documentation

probabilistic_grasp_planner::ClusterPlannerGraspRetriever::ClusterPlannerGraspRetriever ( ros::NodeHandle nh,
const std::string &  cluster_planner_name,
const object_manipulation_msgs::GraspableObject graspable_object,
const std::string &  arm_name 
)

Definition at line 357 of file grasp_retriever.cpp.


Member Function Documentation

The "tool point" is roughly in the middle of the object enclosed by the grasp, so roughly 13cm from wrist

Definition at line 391 of file grasp_retriever.cpp.

Note that this is leaving several of the grasp planning arguments empty. If the cluster planner changes this will need to change as well.

Definition at line 368 of file grasp_retriever.cpp.

Gets the grasps from both the underlying GraspRetriever and the cluster planner call

Add the grasps from the cluster planner

Implements probabilistic_grasp_planner::GraspRetriever.

Definition at line 384 of file grasp_retriever.cpp.


Member Data Documentation

Definition at line 208 of file grasp_retriever.h.

Definition at line 206 of file grasp_retriever.h.

Definition at line 207 of file grasp_retriever.h.

Definition at line 205 of file grasp_retriever.h.


The documentation for this class was generated from the following files:
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probabilistic_grasp_planner
Author(s): Peter Brook
autogenerated on Fri Jan 25 2013 15:03:22