simple_grasping: shape_grasp_planner.h Source File

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00001 /*
00002  * Copyright 2015, Fetch Robotics Inc.
00003  * Copyright 2013-2014, Unbounded Robotics Inc.
00004  * All rights reserved.
00005  *
00006  * Redistribution and use in source and binary forms, with or without
00007  * modification, are permitted provided that the following conditions are met:
00008  *
00009  *     * Redistributions of source code must retain the above copyright
00010  *       notice, this list of conditions and the following disclaimer.
00011  *     * Redistributions in binary form must reproduce the above copyright
00012  *       notice, this list of conditions and the following disclaimer in the
00013  *       documentation and/or other materials provided with the distribution.
00014  *     * Neither the name of the Unbounded Robotics, Inc. nor the names of its
00015  *       contributors may be used to endorse or promote products derived from
00016  *       this software without specific prior written permission.
00017  *
00018  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00019  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00020  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00021  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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00030 
00031 // Author: Michael Ferguson
00032 
00033 #ifndef SIMPLE_GRASPING_SHAPE_GRASP_PLANNER_H
00034 #define SIMPLE_GRASPING_SHAPE_GRASP_PLANNER_H
00035 
00036 #include <ros/ros.h>
00037 #include <grasping_msgs/GraspableObject.h>
00038 
00039 namespace simple_grasping
00040 {
00041 
00046 class ShapeGraspPlanner
00047 {
00048 public:
00053   ShapeGraspPlanner(ros::NodeHandle& nh);
00054 
00055   virtual int plan(const grasping_msgs::Object& object,
00056                    std::vector<moveit_msgs::Grasp>& grasps);
00057 
00058 private:
00068   int createGrasp(const geometry_msgs::PoseStamped& pose,
00069                   double gripper_opening,
00070                   double gripper_pitch,
00071                   double x_offset,
00072                   double z_offset,
00073                   double quality);
00074 
00086   int createGraspSeries(const geometry_msgs::PoseStamped& pose,
00087                         double depth, double width, double height,
00088                         bool use_vertical = true);
00089 
00090   trajectory_msgs::JointTrajectory makeGraspPosture(double pose);
00091 
00092   // gripper model
00093   std::string left_joint_, right_joint_;
00094   double max_opening_;
00095   double max_effort_;
00096   double grasp_duration_;
00097   double tool_offset_;
00098   double finger_depth_;
00099   double gripper_tolerance_;
00100 
00101   // approach model
00102   std::string approach_frame_;
00103   double approach_min_translation_;
00104   double approach_desired_translation_;
00105 
00106   // retreat model
00107   std::string retreat_frame_;
00108   double retreat_min_translation_;
00109   double retreat_desired_translation_;
00110 
00111   // storing of internal grasps as we generate them
00112   std::vector<moveit_msgs::Grasp> grasps_;
00113 };
00114 
00115 }  // namespace simple_grasping
00116 
00117 #endif  // SIMPLE_GRASPING_SHAPE_GRASP_PLANNER_H