The grasp retriever node object. More...

#include <GraspRetriever.h>

Public Member Functions
	GraspRetriever ()
	Create a GraspRetriever and associated ROS information.
bool	okay () const
	A check for a valid GraspRetriever.
virtual	~GraspRetriever ()
	Cleans up a GraspRetriever.
Private Member Functions
void	retrieveGrasp (const rail_pick_and_place_msgs::RetrieveGraspDemonstrationGoalConstPtr &goal)
	Callback for the retrieve grasp action server.
Private Attributes
actionlib::SimpleActionServer < rail_pick_and_place_msgs::RetrieveGraspDemonstrationAction >	as_
graspdb::Client *	graspdb_
ros::NodeHandle	node_
bool	okay_
ros::Publisher	point_cloud_pub_
ros::Publisher	pose_pub_
ros::NodeHandle	private_node_

Detailed Description

The grasp retriever node object.

The grasp retriever allows for loading stored grasps from the grasp database training set. An action server is started as the main entry point to grasp retrieval.

Definition at line 34 of file GraspRetriever.h.

Constructor & Destructor Documentation

GraspRetriever::GraspRetriever ( )

Create a GraspRetriever and associated ROS information.

Creates a ROS node handle, creates a client to the grasp database, and starts the action server.

Definition at line 19 of file GraspRetriever.cpp.

GraspRetriever::~GraspRetriever ( ) [virtual]

Cleans up a GraspRetriever.

Cleans up any connections used by the GraspRetriever.

Definition at line 54 of file GraspRetriever.cpp.

Member Function Documentation

bool GraspRetriever::okay ( ) const

A check for a valid GraspRetriever.

This function will return true if the appropriate connections were created successfully during initialization.

Returns:: True if the appropriate connections were created successfully during initialization.

Definition at line 62 of file GraspRetriever.cpp.

void GraspRetriever::retrieveGrasp ( const rail_pick_and_place_msgs::RetrieveGraspDemonstrationGoalConstPtr & goal ) [private]

Callback for the retrieve grasp action server.

The retrieve grasp action will attempt to load a stored grasp demonstration from the grasp database.

Parameters:

goal	The goal object specifying the parameters.

Definition at line 67 of file GraspRetriever.cpp.

Member Data Documentation

actionlib::SimpleActionServer<rail_pick_and_place_msgs::RetrieveGraspDemonstrationAction> rail::pick_and_place::GraspRetriever::as_ [private]

The main action server.

Definition at line 78 of file GraspRetriever.h.

graspdb::Client* rail::pick_and_place::GraspRetriever::graspdb_ [private]

The grasp database connection.

Definition at line 73 of file GraspRetriever.h.

ros::NodeHandle rail::pick_and_place::GraspRetriever::node_ [private]

The public and private ROS node handles.

Definition at line 76 of file GraspRetriever.h.

bool rail::pick_and_place::GraspRetriever::okay_ [private]

The okay check flag.

Definition at line 71 of file GraspRetriever.h.

ros::Publisher rail::pick_and_place::GraspRetriever::point_cloud_pub_ [private]

The latched publishers for retrieved data.

Definition at line 80 of file GraspRetriever.h.

ros::Publisher rail::pick_and_place::GraspRetriever::pose_pub_ [private]

Definition at line 80 of file GraspRetriever.h.

ros::NodeHandle rail::pick_and_place::GraspRetriever::private_node_ [private]

Definition at line 76 of file GraspRetriever.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation