Class for running the main pipeline. More...
#include <simplepickplace.hpp>
Public Member Functions | |
| void | run () |
| main cycle | |
| SimplePickPlace (const std::string robot_name, const double test_step, const double x_min, const double x_max, const double y_min, const double y_max, const double z_min, const double z_max, const std::string left_arm_name, const std::string right_arm_name, const bool verbose) | |
| constructor | |
Protected Member Functions | |
| bool | checkObj (int &block_id) |
| check if the block exists | |
| void | cleanObjects (std::vector< MetaBlock > *objects, const bool list_erase=true) |
| clean the object list based on the timestamp | |
| void | createObj (const MetaBlock &block) |
| create and publish an object | |
| MetaBlock | createTable () |
| create a table object | |
| void | getCollisionObjects (const moveit_msgs::CollisionObject::ConstPtr &msg) |
| get collision objects from the topic /collision_object | |
| void | resetBlock (MetaBlock *block) |
| publish the object at new position | |
| void | switchArm (Action *action_now) |
| switch between the left and right arms | |
Protected Attributes | |
| Action * | action_left_ |
| Action * | action_right_ |
| std::string | base_frame_ |
| double | block_size_x_ |
| double | block_size_y_ |
| std::vector< MetaBlock > | blocks_surfaces_ |
| moveit::planning_interface::PlanningSceneInterface | current_scene_ |
| bool | env_shown_ |
| Evaluation | evaluation_ |
| double | floor_to_base_height_ |
| geometry_msgs::PoseStamped | msg_obj_pose_ |
| ros::NodeHandle | nh_ |
| ros::NodeHandle | nh_priv_ |
| ObjProcessor | obj_proc_ |
| geometry_msgs::Pose | pose_default_ |
| geometry_msgs::Pose | pose_default_r_ |
| geometry_msgs::Pose | pose_zero_ |
| ros::Publisher | pub_obj_moveit_ |
| ros::Publisher | pub_obj_pose_ |
| ros::Rate | rate_ |
| std::string | robot_name_ |
| std::vector< geometry_msgs::Pose > | stat_poses_success_ |
| ros::Subscriber | sub_obj_coll_ |
| std::string | support_surface_ |
| const bool | verbose_ |
| moveit_visual_tools::MoveItVisualToolsPtr | visual_tools_ |
| double | x_max_ |
| double | x_min_ |
| double | y_max_ |
| double | y_min_ |
| double | z_max_ |
| double | z_min_ |
Class for running the main pipeline.
Definition at line 33 of file simplepickplace.hpp.
| moveit_simple_actions::SimplePickPlace::SimplePickPlace | ( | const std::string | robot_name, |
| const double | test_step, | ||
| const double | x_min, | ||
| const double | x_max, | ||
| const double | y_min, | ||
| const double | y_max, | ||
| const double | z_min, | ||
| const double | z_max, | ||
| const std::string | left_arm_name, | ||
| const std::string | right_arm_name, | ||
| const bool | verbose | ||
| ) |
constructor
Definition at line 51 of file simplepickplace.cpp.
| bool moveit_simple_actions::SimplePickPlace::checkObj | ( | int & | block_id | ) | [protected] |
check if the block exists
Definition at line 207 of file simplepickplace.cpp.
| void moveit_simple_actions::SimplePickPlace::cleanObjects | ( | std::vector< MetaBlock > * | objects, |
| const bool | list_erase = true |
||
| ) | [protected] |
clean the object list based on the timestamp
Definition at line 583 of file simplepickplace.cpp.
| void moveit_simple_actions::SimplePickPlace::createObj | ( | const MetaBlock & | block | ) | [protected] |
create and publish an object
Definition at line 196 of file simplepickplace.cpp.
| MetaBlock moveit_simple_actions::SimplePickPlace::createTable | ( | ) | [protected] |
create a table object
Definition at line 30 of file simplepickplace.cpp.
| void moveit_simple_actions::SimplePickPlace::getCollisionObjects | ( | const moveit_msgs::CollisionObject::ConstPtr & | msg | ) | [protected] |
get collision objects from the topic /collision_object
| void moveit_simple_actions::SimplePickPlace::resetBlock | ( | MetaBlock * | block | ) | [protected] |
publish the object at new position
Definition at line 594 of file simplepickplace.cpp.
main cycle
Definition at line 215 of file simplepickplace.cpp.
| void moveit_simple_actions::SimplePickPlace::switchArm | ( | Action * | action_now | ) | [protected] |
switch between the left and right arms
Definition at line 185 of file simplepickplace.cpp.
instance of an Action class for the left arm
Definition at line 117 of file simplepickplace.hpp.
instance of an Action class for the right arm
Definition at line 120 of file simplepickplace.hpp.
std::string moveit_simple_actions::SimplePickPlace::base_frame_ [protected] |
robot's base_frame
Definition at line 85 of file simplepickplace.hpp.
double moveit_simple_actions::SimplePickPlace::block_size_x_ [protected] |
dimenssion x of a default object
Definition at line 88 of file simplepickplace.hpp.
double moveit_simple_actions::SimplePickPlace::block_size_y_ [protected] |
dimenssion y of a default object
Definition at line 91 of file simplepickplace.hpp.
std::vector<MetaBlock> moveit_simple_actions::SimplePickPlace::blocks_surfaces_ [protected] |
set of available surfaces
Definition at line 129 of file simplepickplace.hpp.
moveit::planning_interface::PlanningSceneInterface moveit_simple_actions::SimplePickPlace::current_scene_ [protected] |
current MoveIt scene
Definition at line 126 of file simplepickplace.hpp.
bool moveit_simple_actions::SimplePickPlace::env_shown_ [protected] |
state of re-drawing the world
Definition at line 103 of file simplepickplace.hpp.
evaluation of reaching/grasping
Definition at line 100 of file simplepickplace.hpp.
double moveit_simple_actions::SimplePickPlace::floor_to_base_height_ [protected] |
shift of the robot's base to the floor
Definition at line 94 of file simplepickplace.hpp.
geometry_msgs::PoseStamped moveit_simple_actions::SimplePickPlace::msg_obj_pose_ [protected] |
current object position
Definition at line 138 of file simplepickplace.hpp.
node handle
Definition at line 76 of file simplepickplace.hpp.
Definition at line 76 of file simplepickplace.hpp.
object processing
Definition at line 97 of file simplepickplace.hpp.
default object pose for the left arm
Definition at line 141 of file simplepickplace.hpp.
default object pose for the right arm
Definition at line 144 of file simplepickplace.hpp.
default object pose at zero
Definition at line 147 of file simplepickplace.hpp.
publisher of collision objects to /collision_world
Definition at line 153 of file simplepickplace.hpp.
publisher of the current object pose
Definition at line 135 of file simplepickplace.hpp.
processing rate
Definition at line 156 of file simplepickplace.hpp.
std::string moveit_simple_actions::SimplePickPlace::robot_name_ [protected] |
robot's name
Definition at line 79 of file simplepickplace.hpp.
std::vector<geometry_msgs::Pose> moveit_simple_actions::SimplePickPlace::stat_poses_success_ [protected] |
all successfully reached positions
Definition at line 150 of file simplepickplace.hpp.
subscriber to get objects from /collision_object
Definition at line 132 of file simplepickplace.hpp.
std::string moveit_simple_actions::SimplePickPlace::support_surface_ [protected] |
name of the current support surface
Definition at line 114 of file simplepickplace.hpp.
const bool moveit_simple_actions::SimplePickPlace::verbose_ [protected] |
verbosity
Definition at line 82 of file simplepickplace.hpp.
moveit_visual_tools::MoveItVisualToolsPtr moveit_simple_actions::SimplePickPlace::visual_tools_ [protected] |
visual tools pointer used for scene visualization
Definition at line 123 of file simplepickplace.hpp.
double moveit_simple_actions::SimplePickPlace::x_max_ [protected] |
Definition at line 107 of file simplepickplace.hpp.
double moveit_simple_actions::SimplePickPlace::x_min_ [protected] |
Definition at line 106 of file simplepickplace.hpp.
double moveit_simple_actions::SimplePickPlace::y_max_ [protected] |
Definition at line 109 of file simplepickplace.hpp.
double moveit_simple_actions::SimplePickPlace::y_min_ [protected] |
Definition at line 108 of file simplepickplace.hpp.
double moveit_simple_actions::SimplePickPlace::z_max_ [protected] |
Definition at line 111 of file simplepickplace.hpp.
double moveit_simple_actions::SimplePickPlace::z_min_ [protected] |
Definition at line 110 of file simplepickplace.hpp.