Public Member Functions | Static Public Member Functions | Private Attributes
moveit_simple_grasps::SimpleGrasps Class Reference

#include <simple_grasps.h>

List of all members.

Public Member Functions

MOVEIT_DEPRECATED bool generateAllGrasps (const geometry_msgs::Pose &object_pose, const GraspData &grasp_data, std::vector< moveit_msgs::Grasp > &possible_grasps)
 Moved to generateBlockGrasps.
bool generateAxisGrasps (const geometry_msgs::Pose &object_pose, grasp_axis_t axis, grasp_direction_t direction, grasp_rotation_t rotation, double hand_roll, const GraspData &grasp_data, std::vector< moveit_msgs::Grasp > &possible_grasps)
 Create grasp positions in one axis around a single pose Note: to visualize these grasps use moveit_visual_tools.publishAnimatedGrasps() function or moveit_visual_tools.publishIKSolutions() with the resulting data.
bool generateBlockGrasps (const geometry_msgs::Pose &object_pose, const GraspData &grasp_data, std::vector< moveit_msgs::Grasp > &possible_grasps)
 Create all possible grasp positions for a block.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW SimpleGrasps (moveit_visual_tools::VisualToolsPtr rviz_tools, bool verbose=false)
 Constructor.
 ~SimpleGrasps ()
 Destructor.

Static Public Member Functions

static geometry_msgs::PoseStamped getPreGraspPose (const moveit_msgs::Grasp &grasp, const std::string &ee_parent_link)
 Using an input grasp description, get the pregrasp pose.
static MOVEIT_DEPRECATED void printObjectGraspData (const GraspData &data)
 Print debug info DEPRECATRED: moved to grasp_data.cpp.

Private Attributes

Eigen::Affine3d object_global_transform_
bool verbose_
moveit_visual_tools::VisualToolsPtr visual_tools_

Detailed Description

Definition at line 79 of file simple_grasps.h.


Constructor & Destructor Documentation

Constructor.

Definition at line 41 of file simple_grasps.cpp.

Destructor.

Definition at line 49 of file simple_grasps.cpp.


Member Function Documentation

MOVEIT_DEPRECATED bool moveit_simple_grasps::SimpleGrasps::generateAllGrasps ( const geometry_msgs::Pose object_pose,
const GraspData grasp_data,
std::vector< moveit_msgs::Grasp > &  possible_grasps 
) [inline]

Moved to generateBlockGrasps.

Definition at line 108 of file simple_grasps.h.

bool moveit_simple_grasps::SimpleGrasps::generateAxisGrasps ( const geometry_msgs::Pose object_pose,
grasp_axis_t  axis,
grasp_direction_t  direction,
grasp_rotation_t  rotation,
double  hand_roll,
const GraspData grasp_data,
std::vector< moveit_msgs::Grasp > &  possible_grasps 
)

Create grasp positions in one axis around a single pose Note: to visualize these grasps use moveit_visual_tools.publishAnimatedGrasps() function or moveit_visual_tools.publishIKSolutions() with the resulting data.

Parameters:
pose- center point of object to be grasped
axis- axis relative to object pose to rotate generated grasps around
direction- a parallel gripper is typically symetric such that it can perform the same grasp 180 degree around. this option allows to generate a flipped grasp pose
rotation- amount to rotate around the object - 180 or 360 degrees
hand_roll- amount in radians to roll wrist with respect to center point of object during grasp. use 0 by default
grasp_data- parameters specific to the robot geometry
possible_grasps- the output solution vector of possible grasps to attempt. ok if pre-populated
Returns:
true if successful

Definition at line 68 of file simple_grasps.cpp.

bool moveit_simple_grasps::SimpleGrasps::generateBlockGrasps ( const geometry_msgs::Pose object_pose,
const GraspData grasp_data,
std::vector< moveit_msgs::Grasp > &  possible_grasps 
)

Create all possible grasp positions for a block.

Parameters:
poseof block, where vector arrow is parallel to table plane
datadescribing end effector
resultinggenerated possible grasps
Returns:
true if successful

Definition at line 54 of file simple_grasps.cpp.

geometry_msgs::PoseStamped moveit_simple_grasps::SimpleGrasps::getPreGraspPose ( const moveit_msgs::Grasp &  grasp,
const std::string &  ee_parent_link 
) [static]

Using an input grasp description, get the pregrasp pose.

Parameters:
graspdescription
nameof parent link
Returns:
pregrasp pose

Definition at line 281 of file simple_grasps.cpp.

Print debug info DEPRECATRED: moved to grasp_data.cpp.

Definition at line 161 of file simple_grasps.h.


Member Data Documentation

Definition at line 87 of file simple_grasps.h.

Definition at line 90 of file simple_grasps.h.

Definition at line 84 of file simple_grasps.h.


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


moveit_simple_grasps
Author(s): Dave Coleman
autogenerated on Fri Aug 28 2015 11:36:01