Class for motion planning based on move_group. More...

#include <action.hpp>

Public Member Functions
	Action (ros::NodeHandle *nh, const std::string &arm, const std::string &robot_name, const std::string &base_frame)
	constructor
float	computeDistance (MetaBlock *block)
	compute the distance to the object
float	computeDistance (geometry_msgs::Pose goal)
	compute the distance to the pose
void	detachObject (const std::string &block_name)
	detach the collision object
bool	executeAction ()
	execute the planned motion trajectory
std::string	getBaseLink ()
	get the base_link
geometry_msgs::PoseStamped	getGraspPose (MetaBlock *block)
	get the grasping pose for the object pose
geometry_msgs::Pose	getPose ()
	get the current pose
bool	graspPlan (MetaBlock *block, const std::string surface_name)
	plan a trajectory as computePlanButtonClicked in MoveIt
bool	graspPlanAllPossible (MetaBlock *block, const std::string surface_name)
	plan and show all possible motion trajectories
void	initVisualTools (moveit_visual_tools::MoveItVisualToolsPtr &visual_tools)
	initialize the visual tools
bool	pickAction (MetaBlock *block, const std::string surface_name, const int attempts_nbr=0, const double planning_time=0.0)
	pick an object with a grasp generator
bool	pickDefault (MetaBlock *block, const std::string surface_name)
	pick an object without a grasp generator
bool	placeAction (MetaBlock *block, const std::string surface_name)
	pick an object
bool	poseHand (const int pose_id)
	go to the pose
void	poseHandClose ()
	go to the pose that closes hand
void	poseHandOpen ()
	go to the pose that opens hand
bool	poseHeadDown ()
	go to the pose that moves the head down
bool	poseHeadZero ()
	go to the pose that moves the head to zero
bool	reachAction (geometry_msgs::PoseStamped pose_target, const std::string surface_name="", const int attempts_nbr=1)
	reach the top of an object
bool	reachGrasp (MetaBlock *block, const std::string surface_name, int attempts_nbr=0, float tolerance_min=0.0f, double planning_time=0.0)
	reach default grasping pose
void	releaseObject (MetaBlock *block)
	release the object
void	setTolerance (const double value)
	set the tolerance
Public Attributes
const std::string	plan_group_
Private Member Functions
void	attachObject (const std::string &block_name)
	attach the collision object
std::vector< geometry_msgs::Pose >	configureForPlanning (const std::vector< moveit_msgs::Grasp > &grasps)
	configure for planning
std::vector< std::string > ::iterator	ensureExistsInACM (const std::string &name, moveit_msgs::AllowedCollisionMatrix &m, bool initFlag)
	ensure that the entry exist in the collision matrix
void	expandMoveItCollisionMatrix (const std::string &name, moveit_msgs::AllowedCollisionMatrix &m, bool default_val)
	add an object to the collision matrix
std::vector< moveit_msgs::Grasp >	generateGrasps (MetaBlock *block)
	generate all possible grasps
bool	getCurrentMoveItAllowedCollisionMatrix (moveit_msgs::AllowedCollisionMatrix &matrix)
	get allowed collision matrix
void	publishPlanInfo (moveit::planning_interface::MoveGroup::Plan plan, geometry_msgs::Pose pose_target)
	publish the planning info
bool	setAllowedMoveItCollisionMatrix (moveit_msgs::AllowedCollisionMatrix &m)
	set allowed collision matrix
void	setAttemptsMax (int value)
	set the maximum number of attempts
void	setFlag (int flag)
	set the flag if action execution is allowed
void	setMaxVelocityScalingFactor (const double value)
	set the maximum velocity scaling factor
void	setPlanningTime (const double value)
	set the planning time
void	setToleranceMin (const double value)
	set the minimum tolerance
void	setToleranceStep (const double value)
	set the tolerance step
void	setVerbose (bool verbose)
	set verbosity
void	updateCollisionMatrix (const std::string &name)
	update the collision matrix with the object
Private Attributes
std::vector< std::string >	allowedCollisionLinks_
int	attempts_max_
std::string	base_frame_
ros::ServiceClient	client_fk_
boost::shared_ptr < moveit::planning_interface::MoveGroup::Plan >	current_plan_
moveit::planning_interface::PlanningSceneInterface	current_scene_
float	dist_th_
const std::string	end_eff_
int	flag_
moveit_simple_grasps::GraspData	grasp_data_
tf::TransformListener	listener_
double	max_velocity_scaling_factor_
boost::scoped_ptr < move_group_interface::MoveGroup >	move_group_
std::string	object_attached_
std::string	planner_id_
ros::ServiceClient	planning_scene_client_
ros::Publisher	planning_scene_publisher_
double	planning_time_
Posture	posture_
ros::Publisher	pub_obj_pose_
ros::Publisher	pub_plan_pose_
ros::Publisher	pub_plan_traj_
moveit_simple_grasps::SimpleGraspsPtr	simple_grasps_
double	tolerance_min_
double	tolerance_step_
bool	verbose_
moveit_visual_tools::MoveItVisualToolsPtr	visual_tools_

Detailed Description

Class for motion planning based on move_group.

Definition at line 47 of file action.hpp.

Constructor & Destructor Documentation

moveit_simple_actions::Action::Action	(	ros::NodeHandle *	nh,
		const std::string &	arm,
		const std::string &	robot_name,
		const std::string &	base_frame
	)

constructor

Definition at line 29 of file action.cpp.

Member Function Documentation

void moveit_simple_actions::Action::attachObject ( const std::string & block_name ) [private]

attach the collision object

Definition at line 952 of file action.cpp.

float moveit_simple_actions::Action::computeDistance ( MetaBlock * block )

compute the distance to the object

Definition at line 280 of file action.cpp.

float moveit_simple_actions::Action::computeDistance ( geometry_msgs::Pose goal )

compute the distance to the pose

Definition at line 289 of file action.cpp.

std::vector< geometry_msgs::Pose > moveit_simple_actions::Action::configureForPlanning ( const std::vector< moveit_msgs::Grasp > & grasps ) [private]

configure for planning

Definition at line 685 of file action.cpp.

void moveit_simple_actions::Action::detachObject ( const std::string & block_name )

detach the collision object

Definition at line 947 of file action.cpp.

std::vector< std::string >::iterator moveit_simple_actions::Action::ensureExistsInACM	(	const std::string &	name,
		moveit_msgs::AllowedCollisionMatrix &	m,
		bool	initFlag
	)		`[private]`

ensure that the entry exist in the collision matrix

Definition at line 415 of file action.cpp.

bool moveit_simple_actions::Action::executeAction ( )

execute the planned motion trajectory

Definition at line 194 of file action.cpp.

void moveit_simple_actions::Action::expandMoveItCollisionMatrix	(	const std::string &	name,
		moveit_msgs::AllowedCollisionMatrix &	m,
		bool	default_val
	)		`[private]`

add an object to the collision matrix

Definition at line 435 of file action.cpp.

std::vector< moveit_msgs::Grasp > moveit_simple_actions::Action::generateGrasps ( MetaBlock * block ) [private]

generate all possible grasps

Definition at line 648 of file action.cpp.

std::string moveit_simple_actions::Action::getBaseLink ( )

get the base_link

Definition at line 957 of file action.cpp.

bool moveit_simple_actions::Action::getCurrentMoveItAllowedCollisionMatrix ( moveit_msgs::AllowedCollisionMatrix & matrix ) [private]

get allowed collision matrix

Definition at line 392 of file action.cpp.

geometry_msgs::PoseStamped moveit_simple_actions::Action::getGraspPose ( MetaBlock * block )

get the grasping pose for the object pose

Definition at line 252 of file action.cpp.

geometry_msgs::Pose moveit_simple_actions::Action::getPose ( )

get the current pose

Definition at line 330 of file action.cpp.

bool moveit_simple_actions::Action::graspPlan	(	MetaBlock *	block,
		const std::string	surface_name
	)

plan a trajectory as computePlanButtonClicked in MoveIt

Definition at line 215 of file action.cpp.

bool moveit_simple_actions::Action::graspPlanAllPossible	(	MetaBlock *	block,
		const std::string	surface_name
	)

plan and show all possible motion trajectories

Definition at line 605 of file action.cpp.

void moveit_simple_actions::Action::initVisualTools ( moveit_visual_tools::MoveItVisualToolsPtr & visual_tools )

initialize the visual tools

Definition at line 119 of file action.cpp.

bool moveit_simple_actions::Action::pickAction	(	MetaBlock *	block,
		const std::string	surface_name,
		const int	attempts_nbr = `0`,
		const double	planning_time = `0.0`
	)

pick an object with a grasp generator

Definition at line 703 of file action.cpp.

bool moveit_simple_actions::Action::pickDefault	(	MetaBlock *	block,
		const std::string	surface_name
	)

pick an object without a grasp generator

Definition at line 127 of file action.cpp.

bool moveit_simple_actions::Action::placeAction	(	MetaBlock *	block,
		const std::string	surface_name
	)

pick an object

Definition at line 760 of file action.cpp.

bool moveit_simple_actions::Action::poseHand ( const int pose_id )

go to the pose

Definition at line 311 of file action.cpp.

void moveit_simple_actions::Action::poseHandClose ( )

go to the pose that closes hand

Definition at line 325 of file action.cpp.

void moveit_simple_actions::Action::poseHandOpen ( )

go to the pose that opens hand

Definition at line 320 of file action.cpp.

bool moveit_simple_actions::Action::poseHeadDown ( )

go to the pose that moves the head down

Definition at line 306 of file action.cpp.

bool moveit_simple_actions::Action::poseHeadZero ( )

go to the pose that moves the head to zero

Definition at line 301 of file action.cpp.

void moveit_simple_actions::Action::publishPlanInfo	(	moveit::planning_interface::MoveGroup::Plan	plan,
		geometry_msgs::Pose	pose_target
	)		`[private]`

publish the planning info

Definition at line 828 of file action.cpp.

bool moveit_simple_actions::Action::reachAction	(	geometry_msgs::PoseStamped	pose_target,
		const std::string	surface_name = `""`,
		const int	attempts_nbr = `1`
	)

reach the top of an object

Definition at line 536 of file action.cpp.

bool moveit_simple_actions::Action::reachGrasp	(	MetaBlock *	block,
		const std::string	surface_name,
		int	attempts_nbr = `0`,
		float	tolerance_min = `0.0f`,
		double	planning_time = `0.0`
	)

reach default grasping pose

Definition at line 473 of file action.cpp.

void moveit_simple_actions::Action::releaseObject ( MetaBlock * block )

release the object

Definition at line 357 of file action.cpp.

bool moveit_simple_actions::Action::setAllowedMoveItCollisionMatrix ( moveit_msgs::AllowedCollisionMatrix & m ) [private]

set allowed collision matrix

Definition at line 377 of file action.cpp.

void moveit_simple_actions::Action::setAttemptsMax ( int value ) [private]

set the maximum number of attempts

Definition at line 927 of file action.cpp.

void moveit_simple_actions::Action::setFlag ( int flag ) [private]

set the flag if action execution is allowed

Definition at line 934 of file action.cpp.

void moveit_simple_actions::Action::setMaxVelocityScalingFactor ( const double value ) [private]

set the maximum velocity scaling factor

Definition at line 912 of file action.cpp.

void moveit_simple_actions::Action::setPlanningTime ( const double value ) [private]

set the planning time

Definition at line 890 of file action.cpp.

void moveit_simple_actions::Action::setTolerance ( const double value )

set the tolerance

Definition at line 349 of file action.cpp.

void moveit_simple_actions::Action::setToleranceMin ( const double value ) [private]

set the minimum tolerance

Definition at line 905 of file action.cpp.

void moveit_simple_actions::Action::setToleranceStep ( const double value ) [private]

set the tolerance step

Definition at line 898 of file action.cpp.

void moveit_simple_actions::Action::setVerbose ( bool verbose ) [private]

set verbosity

Definition at line 920 of file action.cpp.

void moveit_simple_actions::Action::updateCollisionMatrix ( const std::string & name ) [private]

update the collision matrix with the object

Definition at line 452 of file action.cpp.

Member Data Documentation

std::vector<std::string> moveit_simple_actions::Action::allowedCollisionLinks_ [private]

allowed collision links

Definition at line 270 of file action.hpp.

int moveit_simple_actions::Action::attempts_max_ [private]

maximum number of attempts to do action

Definition at line 234 of file action.hpp.

std::string moveit_simple_actions::Action::base_frame_ [private]

base frame

Definition at line 273 of file action.hpp.

ros::ServiceClient moveit_simple_actions::Action::client_fk_ [private]

client FK

Definition at line 228 of file action.hpp.

boost::shared_ptr<moveit::planning_interface::MoveGroup::Plan> moveit_simple_actions::Action::current_plan_ [private]

for planning actions

Definition at line 210 of file action.hpp.

moveit::planning_interface::PlanningSceneInterface moveit_simple_actions::Action::current_scene_ [private]

the current MoveIt scene

Definition at line 216 of file action.hpp.

float moveit_simple_actions::Action::dist_th_ [private]

the the distance to object allowing to grasp it

Definition at line 252 of file action.hpp.

const std::string moveit_simple_actions::Action::end_eff_ [private]

active end effector

Definition at line 195 of file action.hpp.

int moveit_simple_actions::Action::flag_ [private]

flag to allow motion

Definition at line 255 of file action.hpp.

moveit_simple_grasps::GraspData moveit_simple_actions::Action::grasp_data_ [private]

grasp configuration

Definition at line 201 of file action.hpp.

tf::TransformListener moveit_simple_actions::Action::listener_ [private]

the transform listener

Definition at line 261 of file action.hpp.

double moveit_simple_actions::Action::max_velocity_scaling_factor_ [private]

maximum velocity factor

Definition at line 249 of file action.hpp.

boost::scoped_ptr<move_group_interface::MoveGroup> moveit_simple_actions::Action::move_group_ [private]

interface with MoveIt

Definition at line 204 of file action.hpp.

std::string moveit_simple_actions::Action::object_attached_ [private]

the current attached object

Definition at line 258 of file action.hpp.

const std::string moveit_simple_actions::Action::plan_group_

name of the planning group

Definition at line 136 of file action.hpp.

std::string moveit_simple_actions::Action::planner_id_ [private]

planning library

Definition at line 240 of file action.hpp.

ros::ServiceClient moveit_simple_actions::Action::planning_scene_client_ [private]

planning scene client

Definition at line 267 of file action.hpp.

ros::Publisher moveit_simple_actions::Action::planning_scene_publisher_ [private]

client get scene difference

Definition at line 264 of file action.hpp.

double moveit_simple_actions::Action::planning_time_ [private]

planning time

Definition at line 237 of file action.hpp.

Posture moveit_simple_actions::Action::posture_ [private]

posture class

Definition at line 198 of file action.hpp.

ros::Publisher moveit_simple_actions::Action::pub_obj_pose_ [private]

publisher for a pre-grasp pose

Definition at line 219 of file action.hpp.

ros::Publisher moveit_simple_actions::Action::pub_plan_pose_ [private]

publish final pose

Definition at line 222 of file action.hpp.

ros::Publisher moveit_simple_actions::Action::pub_plan_traj_ [private]

publish final trajectory

Definition at line 225 of file action.hpp.

moveit_simple_grasps::SimpleGraspsPtr moveit_simple_actions::Action::simple_grasps_ [private]

grasp generator

Definition at line 207 of file action.hpp.

double moveit_simple_actions::Action::tolerance_min_ [private]

minimum tolerance to reach

Definition at line 243 of file action.hpp.

double moveit_simple_actions::Action::tolerance_step_ [private]

the tolerance step to vary

Definition at line 246 of file action.hpp.

bool moveit_simple_actions::Action::verbose_ [private]

verbnosity level

Definition at line 231 of file action.hpp.

moveit_visual_tools::MoveItVisualToolsPtr moveit_simple_actions::Action::visual_tools_ [private]

visual tools pointer used for scene visualization

Definition at line 213 of file action.hpp.

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

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation