#include <cob_pick_place_action.h>

Public Member Functions
moveit_msgs::GripperTranslation	calculateApproachDirection (geometry_msgs::Pose msg_pose_grasp_FOOTPRINT_from_ARM7, geometry_msgs::Pose msg_pose_pre_FOOTPRINT_from_ARM7)
	CobPickPlaceActionServer (std::string group_name)
void	convertGraspKIT (Grasp *current_grasp, geometry_msgs::PoseStamped object_pose, std::vector< moveit_msgs::Grasp > &grasps)
void	fillAllGraspsKIT (unsigned int objectClassId, std::string gripper_type, geometry_msgs::PoseStamped object_pose, std::vector< moveit_msgs::Grasp > &grasps)
void	fillGraspsOR (unsigned int objectClassId, std::string gripper_type, std::string gripper_side, unsigned int grasp_id, geometry_msgs::PoseStamped object_pose, std::vector< moveit_msgs::Grasp > &grasps)
void	fillSingleGraspKIT (unsigned int objectClassId, std::string gripper_type, unsigned int grasp_id, geometry_msgs::PoseStamped object_pose, std::vector< moveit_msgs::Grasp > &grasps)
void	initialize ()
void	insertObject (std::string object_name, unsigned int object_class, geometry_msgs::PoseStamped object_pose)
trajectory_msgs::JointTrajectory	MapHandConfiguration (sensor_msgs::JointState table_config)
void	pick_goal_cb (const cob_pick_place_action::CobPickGoalConstPtr &goal)
void	place_goal_cb (const cob_pick_place_action::CobPlaceGoalConstPtr &goal)
void	run ()
tf::Transform	transformPose (tf::Transform transform_O_from_SDH, tf::Transform transform_HEADER_from_OBJECT, std::string object_frame_id)
	~CobPickPlaceActionServer ()
Private Attributes
boost::scoped_ptr < actionlib::SimpleActionClient < cob_grasp_generation::QueryGraspsAction > >	ac_grasps_or
boost::scoped_ptr < actionlib::SimpleActionServer < cob_pick_place_action::CobPickAction > >	as_pick
boost::scoped_ptr < actionlib::SimpleActionServer < cob_pick_place_action::CobPlaceAction > >	as_place
char *	GraspTableIniFile
moveit::planning_interface::MoveGroup	group
bool	last_grasp_valid
std::string	last_object_name
GraspTable *	m_GraspTable
std::map< unsigned int, std::string >	map_classid_to_classname
ros::NodeHandle	nh_
ros::Publisher	pub_ao
ros::Publisher	pub_co
tf::TransformBroadcaster	tf_broadcaster_
tf::TransformListener	tf_listener_

Detailed Description

Definition at line 46 of file cob_pick_place_action.h.

Constructor & Destructor Documentation

CobPickPlaceActionServer::CobPickPlaceActionServer ( std::string group_name ) [inline]

Definition at line 72 of file cob_pick_place_action.h.

CobPickPlaceActionServer::~CobPickPlaceActionServer ( )

Member Function Documentation

moveit_msgs::GripperTranslation CobPickPlaceActionServer::calculateApproachDirection	(	geometry_msgs::Pose	msg_pose_grasp_FOOTPRINT_from_ARM7,
		geometry_msgs::Pose	msg_pose_pre_FOOTPRINT_from_ARM7
	)

Definition at line 792 of file cob_pick_place_action.cpp.

void CobPickPlaceActionServer::convertGraspKIT	(	Grasp *	current_grasp,
		geometry_msgs::PoseStamped	object_pose,
		std::vector< moveit_msgs::Grasp > &	grasps
	)

GOAL: -> Get TCPGraspPose for arm_7_link wrt base_footprint

Definition at line 407 of file cob_pick_place_action.cpp.

void CobPickPlaceActionServer::fillAllGraspsKIT	(	unsigned int	objectClassId,
		std::string	gripper_type,
		geometry_msgs::PoseStamped	object_pose,
		std::vector< moveit_msgs::Grasp > &	grasps
	)

Initialize GraspTable

Definition at line 349 of file cob_pick_place_action.cpp.

void CobPickPlaceActionServer::fillGraspsOR	(	unsigned int	objectClassId,
		std::string	gripper_type,
		std::string	gripper_side,
		unsigned int	grasp_id,
		geometry_msgs::PoseStamped	object_pose,
		std::vector< moveit_msgs::Grasp > &	grasps
	)

GOAL: -> Get TCPGraspPose for arm_7_link wrt base_footprint

Definition at line 546 of file cob_pick_place_action.cpp.

void CobPickPlaceActionServer::fillSingleGraspKIT	(	unsigned int	objectClassId,
		std::string	gripper_type,
		unsigned int	grasp_id,
		geometry_msgs::PoseStamped	object_pose,
		std::vector< moveit_msgs::Grasp > &	grasps
	)

Initialize GraspTable

Definition at line 379 of file cob_pick_place_action.cpp.

void CobPickPlaceActionServer::initialize ( )

Definition at line 31 of file cob_pick_place_action.cpp.

void CobPickPlaceActionServer::insertObject	(	std::string	object_name,
		unsigned int	object_class,
		geometry_msgs::PoseStamped	object_pose
	)

Definition at line 309 of file cob_pick_place_action.cpp.

trajectory_msgs::JointTrajectory CobPickPlaceActionServer::MapHandConfiguration ( sensor_msgs::JointState table_config )

Definition at line 694 of file cob_pick_place_action.cpp.

void CobPickPlaceActionServer::pick_goal_cb ( const cob_pick_place_action::CobPickGoalConstPtr & goal )

Get grasps from corresponding GraspTable

Updating the object collision_object

Call Pick

Definition at line 90 of file cob_pick_place_action.cpp.

void CobPickPlaceActionServer::place_goal_cb ( const cob_pick_place_action::CobPlaceGoalConstPtr & goal )

Setting result

Definition at line 205 of file cob_pick_place_action.cpp.

void CobPickPlaceActionServer::run ( )

Definition at line 84 of file cob_pick_place_action.cpp.

tf::Transform CobPickPlaceActionServer::transformPose	(	tf::Transform	transform_O_from_SDH,
		tf::Transform	transform_HEADER_from_OBJECT,
		std::string	object_frame_id
	)