PickServer Class Reference

List of all members.

Public Member Functions
void	pick (const calvin_msgs::PickAndStoreGoalConstPtr &goal)
	PickServer (std::string name)
bool	place (std::string id)
	~PickServer ()
Protected Member Functions
moveit_msgs::Grasp	build_grasp (tf::Transform t, const double close_width)
std::vector< moveit_msgs::Grasp >	generate_grasps (double x, double y, double z, const double width, bool no_straight_grasps)
void	publish_grasps_as_markerarray (std::vector< moveit_msgs::Grasp > grasps)
Protected Attributes
actionlib::SimpleActionServer < calvin_msgs::PickAndStoreAction > *	actionserver
ros::ServiceClient	clear_octomap
ros::Publisher	grasps_marker
moveit::planning_interface::MoveGroup *	group
planning_scene_monitor::PlanningSceneMonitorPtr	monitor
ros::NodeHandle	nh
tf::TransformListener	tfl

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Detailed Description

Definition at line 20 of file pick_server.cpp.

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Constructor & Destructor Documentation

PickServer::PickServer

(

std::string

name

)

[inline]

Definition at line 184 of file pick_server.cpp.

PickServer::~PickServer

(

)

[inline]

Definition at line 194 of file pick_server.cpp.

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Member Function Documentation

moveit_msgs::Grasp PickServer::build_grasp	(	tf::Transform	t,
		const double	close_width
	)		[inline, protected]

Definition at line 55 of file pick_server.cpp.

std::vector<moveit_msgs::Grasp> PickServer::generate_grasps	(	double	x,
		double	y,
		double	z,
		const double	width,
		bool	no_straight_grasps
	)		[inline, protected]

x, y, z: center of grasp point (the point that should be between the finger tips of the gripper) close gripper to width

Definition at line 115 of file pick_server.cpp.

void PickServer::pick

(

const calvin_msgs::PickAndStoreGoalConstPtr &

goal

)

[inline]

Definition at line 198 of file pick_server.cpp.

bool PickServer::place

(

std::string

id

)

[inline]

Definition at line 278 of file pick_server.cpp.

void PickServer::publish_grasps_as_markerarray

(

std::vector< moveit_msgs::Grasp >

grasps

)

[inline, protected]

Definition at line 31 of file pick_server.cpp.

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Member Data Documentation

actionlib::SimpleActionServer<calvin_msgs::PickAndStoreAction>* PickServer::actionserver [protected]

Definition at line 23 of file pick_server.cpp.

ros::ServiceClient PickServer::clear_octomap [protected]

Definition at line 26 of file pick_server.cpp.

ros::Publisher PickServer::grasps_marker [protected]

Definition at line 28 of file pick_server.cpp.

moveit::planning_interface::MoveGroup* PickServer::group [protected]

Definition at line 24 of file pick_server.cpp.

planning_scene_monitor::PlanningSceneMonitorPtr PickServer::monitor [protected]

Definition at line 25 of file pick_server.cpp.

ros::NodeHandle PickServer::nh [protected]

Definition at line 22 of file pick_server.cpp.

tf::TransformListener PickServer::tfl [protected]

Definition at line 29 of file pick_server.cpp.

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

• pick_server.cpp