#include <GraspedObjectHandler.h>

Inheritance diagram for moveit_object_handling::GraspedObjectHandlerMoveIt:

Public Member Functions
virtual bool	attachObjectToRobot (const std::string &object_name, const std::string &attach_link_name)
virtual bool	detachObjectFromRobot (const std::string &object_name)
	GraspedObjectHandlerMoveIt (ros::NodeHandle &n, const std::vector< std::string > &_gripperLinkNames, const std::string &get_planning_scene_service="/get_planning_scene", const std::string &set_planning_scene_topic="/planning_scene")
void	waitForSubscribers ()
Private Member Functions
bool	attachObjectToRobot (const std::string &name, const std::string &link_name, const std::vector< std::string > &allowedTouchLinks)
void	subscribeAndAdvertise (const std::string &get_planning_scene_service="/get_planning_scene", const std::string &set_planning_scene_topic="/planning_scene")
bool	transformCollisionObject (const std::string &to_frame, moveit_msgs::CollisionObject &collision_object)
bool	transformPose (const geometry_msgs::Pose &pose, const std::string &from_frame, const std::string &to_frame, geometry_msgs::Pose &p)
Static Private Member Functions
static bool	hasObject (const std::string &name, const std::vector< moveit_msgs::AttachedCollisionObject > &objs, moveit_msgs::AttachedCollisionObject &o)
static bool	hasObject (const std::string &name, const std::vector< moveit_msgs::CollisionObject > &objs, moveit_msgs::CollisionObject &o)
static bool	removeObject (const std::string &name, std::vector< moveit_msgs::CollisionObject > &objs)
static bool	removeObject (const std::string &name, std::vector< moveit_msgs::AttachedCollisionObject > &objs)
Private Attributes
std::vector< std::string >	gripperLinkNames
ros::ServiceClient	moveit_planning_scene_client
ros::Publisher	moveit_planning_scene_publisher
ros::NodeHandle &	node

Detailed Description

Implementation of GraspedObjectHandler for MoveIt! collision object.

Author:: Jennifer Buehler

Date:: February 2016

Definition at line 46 of file GraspedObjectHandler.h.

Constructor & Destructor Documentation

GraspedObjectHandlerMoveIt::GraspedObjectHandlerMoveIt	(	ros::NodeHandle &	n,
		const std::vector< std::string > &	_gripperLinkNames,
		const std::string &	get_planning_scene_service = `"/get_planning_scene"`,
		const std::string &	set_planning_scene_topic = `"/planning_scene"`
	)

Parameters:

_gripperLinkNames names of the gripper links. Those are the links which are allowed to collide with the object being grasped (moveit_msgs::AttachedCollisionObject.touch_links)

Definition at line 9 of file GraspedObjectHandler.cpp.

Member Function Documentation

bool GraspedObjectHandlerMoveIt::attachObjectToRobot	(	const std::string &	object_name,
		const std::string &	attach_link_name
	)		`[virtual]`

Implements moveit_object_handling::GraspedObjectHandler.

Definition at line 23 of file GraspedObjectHandler.cpp.

bool GraspedObjectHandlerMoveIt::attachObjectToRobot	(	const std::string &	name,
		const std::string &	link_name,
		const std::vector< std::string > &	allowedTouchLinks
	)		`[private]`

Definition at line 92 of file GraspedObjectHandler.cpp.

bool GraspedObjectHandlerMoveIt::detachObjectFromRobot ( const std::string & object_name ) [virtual]

Implements moveit_object_handling::GraspedObjectHandler.

Definition at line 34 of file GraspedObjectHandler.cpp.

bool GraspedObjectHandlerMoveIt::hasObject	(	const std::string &	name,
		const std::vector< moveit_msgs::AttachedCollisionObject > &	objs,
		moveit_msgs::AttachedCollisionObject &	o
	)		`[static, private]`

Definition at line 186 of file GraspedObjectHandler.cpp.

bool GraspedObjectHandlerMoveIt::hasObject	(	const std::string &	name,
		const std::vector< moveit_msgs::CollisionObject > &	objs,
		moveit_msgs::CollisionObject &	o
	)		`[static, private]`

Definition at line 200 of file GraspedObjectHandler.cpp.

bool GraspedObjectHandlerMoveIt::removeObject	(	const std::string &	name,
		std::vector< moveit_msgs::CollisionObject > &	objs
	)		`[static, private]`

Definition at line 214 of file GraspedObjectHandler.cpp.

bool GraspedObjectHandlerMoveIt::removeObject	(	const std::string &	name,
		std::vector< moveit_msgs::AttachedCollisionObject > &	objs
	)		`[static, private]`

Definition at line 228 of file GraspedObjectHandler.cpp.

void GraspedObjectHandlerMoveIt::subscribeAndAdvertise	(	const std::string &	get_planning_scene_service = `"/get_planning_scene"`,
		const std::string &	set_planning_scene_topic = `"/planning_scene"`
	)		`[private]`

Definition at line 242 of file GraspedObjectHandler.cpp.

bool GraspedObjectHandlerMoveIt::transformCollisionObject	(	const std::string &	to_frame,
		moveit_msgs::CollisionObject &	collision_object
	)		`[private]`

Transform all object poses to the given frame

Definition at line 290 of file GraspedObjectHandler.cpp.

bool GraspedObjectHandlerMoveIt::transformPose	(	const geometry_msgs::Pose &	pose,
		const std::string &	from_frame,
		const std::string &	to_frame,
		geometry_msgs::Pose &	p
	)		`[private]`