#include <pick_place.h>
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_ |
Definition at line 117 of file pick_place.h.
pick_place::PickPlace::PickPlace | ( | const planning_pipeline::PlanningPipelinePtr & | planning_pipeline | ) |
Definition at line 100 of file pick_place.cpp.
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 130 of file pick_place.h.
const planning_pipeline::PlanningPipelinePtr& pick_place::PickPlace::getPlanningPipeline | ( | ) | const [inline] |
Definition at line 135 of file pick_place.h.
const robot_model::RobotModelConstPtr& pick_place::PickPlace::getRobotModel | ( | ) | const [inline] |
Definition at line 140 of file pick_place.h.
PickPlanPtr pick_place::PickPlace::planPick | ( | const planning_scene::PlanningSceneConstPtr & | planning_scene, |
const moveit_msgs::PickupGoal & | goal | ||
) | const |
PlacePlanPtr pick_place::PickPlace::planPlace | ( | const planning_scene::PlanningSceneConstPtr & | planning_scene, |
const moveit_msgs::PlaceGoal & | goal | ||
) | const |
void pick_place::PickPlace::visualizeGrasp | ( | const ManipulationPlanPtr & | plan | ) | const |
Definition at line 149 of file pick_place.cpp.
void pick_place::PickPlace::visualizeGrasps | ( | const std::vector< ManipulationPlanPtr > & | plans | ) | const |
Definition at line 172 of file pick_place.cpp.
void pick_place::PickPlace::visualizePlan | ( | const ManipulationPlanPtr & | plan | ) | const |
Definition at line 129 of file pick_place.cpp.
constraint_sampler_manager_loader::ConstraintSamplerManagerLoaderPtr pick_place::PickPlace::constraint_sampler_manager_loader_ [private] |
Definition at line 169 of file pick_place.h.
const double pick_place::PickPlace::DEFAULT_GRASP_POSTURE_COMPLETION_DURATION = 7.0 [static] |
Definition at line 126 of file pick_place.h.
bool pick_place::PickPlace::display_computed_motion_plans_ [private] |
Definition at line 164 of file pick_place.h.
const std::string pick_place::PickPlace::DISPLAY_GRASP_TOPIC = "display_grasp_markers" [static] |
Definition at line 123 of file pick_place.h.
bool pick_place::PickPlace::display_grasps_ [private] |
Definition at line 165 of file pick_place.h.
Definition at line 166 of file pick_place.h.
const std::string pick_place::PickPlace::DISPLAY_PATH_TOPIC = planning_pipeline::PlanningPipeline::DISPLAY_PATH_TOPIC [static] |
Definition at line 122 of file pick_place.h.
Definition at line 167 of file pick_place.h.
ros::NodeHandle pick_place::PickPlace::nh_ [private] |
Definition at line 162 of file pick_place.h.
planning_pipeline::PlanningPipelinePtr pick_place::PickPlace::planning_pipeline_ [private] |
Definition at line 163 of file pick_place.h.