moveit_simple_grasps::GraspData Class Reference

#include <grasp_data.h>

List of all members.

Public Member Functions
	GraspData ()
	Constructor.
bool	loadRobotGraspData (const ros::NodeHandle &nh, const std::string &end_effector)
	Loads grasp data from a yaml file (load from roslaunch)
void	print ()
	Debug data to console.
bool	setRobotState (robot_state::RobotStatePtr &robot_state, const trajectory_msgs::JointTrajectory &posture)
	Alter a robot state so that the end effector corresponding to this grasp data is in a grasp posture.
bool	setRobotStateGrasp (robot_state::RobotStatePtr &robot_state)
	Alter a robot state so that the end effector corresponding to this grasp data is in grasp state (CLOSED)
bool	setRobotStatePreGrasp (robot_state::RobotStatePtr &robot_state)
	Alter a robot state so that the end effector corresponding to this grasp data is in pre-grasp state (OPEN)
Public Attributes
int	angle_resolution_
double	approach_retreat_desired_dist_
double	approach_retreat_min_dist_
std::string	base_link_
std::string	ee_group_
std::string	ee_parent_link_
double	grasp_depth_
geometry_msgs::Pose	grasp_pose_to_eef_pose_
trajectory_msgs::JointTrajectory	grasp_posture_
double	object_size_
trajectory_msgs::JointTrajectory	pre_grasp_posture_

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Detailed Description

Definition at line 54 of file grasp_data.h.

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Constructor & Destructor Documentation

moveit_simple_grasps::GraspData::GraspData

(

)

Constructor.

Definition at line 53 of file grasp_data.cpp.

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Member Function Documentation

bool moveit_simple_grasps::GraspData::loadRobotGraspData	(	const ros::NodeHandle &	nh,
		const std::string &	end_effector
	)

Loads grasp data from a yaml file (load from roslaunch)

Parameters:

node	handle - allows for namespacing
end	effector name - which side of a two handed robot to load data for. should correspond to SRDF EE names

Returns:

true on success

Definition at line 63 of file grasp_data.cpp.

void moveit_simple_grasps::GraspData::print

(

)

Debug data to console.

Definition at line 287 of file grasp_data.cpp.

bool moveit_simple_grasps::GraspData::setRobotState	(	robot_state::RobotStatePtr &	robot_state,
		const trajectory_msgs::JointTrajectory &	posture
	)

Alter a robot state so that the end effector corresponding to this grasp data is in a grasp posture.

Parameters:

joint	state of robot
posture	- what state to set the end effector

Returns:

true on success

Definition at line 272 of file grasp_data.cpp.

bool moveit_simple_grasps::GraspData::setRobotStateGrasp

(

robot_state::RobotStatePtr &

robot_state

)

Alter a robot state so that the end effector corresponding to this grasp data is in grasp state (CLOSED)

Parameters:

joint

state of robot

Returns:

true on success

Definition at line 267 of file grasp_data.cpp.

bool moveit_simple_grasps::GraspData::setRobotStatePreGrasp

(

robot_state::RobotStatePtr &

robot_state

)

Alter a robot state so that the end effector corresponding to this grasp data is in pre-grasp state (OPEN)

Parameters:

joint

state of robot

Returns:

true on success

Definition at line 263 of file grasp_data.cpp.

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Member Data Documentation

int moveit_simple_grasps::GraspData::angle_resolution_

Definition at line 64 of file grasp_data.h.

double moveit_simple_grasps::GraspData::approach_retreat_desired_dist_

Definition at line 65 of file grasp_data.h.

double moveit_simple_grasps::GraspData::approach_retreat_min_dist_

Definition at line 66 of file grasp_data.h.

std::string moveit_simple_grasps::GraspData::base_link_

Definition at line 60 of file grasp_data.h.

std::string moveit_simple_grasps::GraspData::ee_group_

Definition at line 62 of file grasp_data.h.

std::string moveit_simple_grasps::GraspData::ee_parent_link_

Definition at line 61 of file grasp_data.h.

double moveit_simple_grasps::GraspData::grasp_depth_

Definition at line 63 of file grasp_data.h.

geometry_msgs::Pose moveit_simple_grasps::GraspData::grasp_pose_to_eef_pose_

Definition at line 57 of file grasp_data.h.

trajectory_msgs::JointTrajectory moveit_simple_grasps::GraspData::grasp_posture_

Definition at line 59 of file grasp_data.h.

double moveit_simple_grasps::GraspData::object_size_

Definition at line 67 of file grasp_data.h.

trajectory_msgs::JointTrajectory moveit_simple_grasps::GraspData::pre_grasp_posture_

Definition at line 58 of file grasp_data.h.

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

• grasp_data.h
• grasp_data.cpp