CobPickPlaceActionServer Class Reference

#include <cob_pick_place_action.h>

Public Member Functions
moveit_msgs::GripperTranslation	calculateApproachDirection (geometry_msgs::Pose msg_pose_grasp_FOOTPRINT_from_ARM7, geometry_msgs::Pose msg_pose_pre_FOOTPRINT_from_ARM7)
	CobPickPlaceActionServer (std::string group_name)
void	convertGraspKIT (Grasp *current_grasp, geometry_msgs::PoseStamped object_pose, std::vector< moveit_msgs::Grasp > &grasps)
void	fillAllGraspsKIT (unsigned int objectClassId, std::string gripper_type, geometry_msgs::PoseStamped object_pose, std::vector< moveit_msgs::Grasp > &grasps)
void	fillGraspsOR (unsigned int objectClassId, std::string gripper_type, std::string gripper_side, unsigned int grasp_id, geometry_msgs::PoseStamped object_pose, std::vector< moveit_msgs::Grasp > &grasps)
void	fillSingleGraspKIT (unsigned int objectClassId, std::string gripper_type, unsigned int grasp_id, geometry_msgs::PoseStamped object_pose, std::vector< moveit_msgs::Grasp > &grasps)
void	initialize ()
void	insertObject (std::string object_name, unsigned int object_class, geometry_msgs::PoseStamped object_pose)
trajectory_msgs::JointTrajectory	MapHandConfiguration (sensor_msgs::JointState table_config)
void	pick_goal_cb (const cob_pick_place_action::CobPickGoalConstPtr &goal)
void	place_goal_cb (const cob_pick_place_action::CobPlaceGoalConstPtr &goal)
void	run ()
tf::Transform	transformPose (tf::Transform transform_O_from_SDH, tf::Transform transform_HEADER_from_OBJECT, std::string object_frame_id)
	~CobPickPlaceActionServer ()

Private Attributes
boost::scoped_ptr< actionlib::SimpleActionClient< cob_grasp_generation::QueryGraspsAction > >	ac_grasps_or
boost::scoped_ptr< actionlib::SimpleActionServer< cob_pick_place_action::CobPickAction > >	as_pick
boost::scoped_ptr< actionlib::SimpleActionServer< cob_pick_place_action::CobPlaceAction > >	as_place
char *	GraspTableIniFile
moveit::planning_interface::MoveGroupInterface	group
bool	last_grasp_valid
std::string	last_object_name
GraspTable *	m_GraspTable
std::map< unsigned int, std::string >	map_classid_to_classname
ros::NodeHandle	nh_
ros::Publisher	pub_ao
ros::Publisher	pub_co
tf::TransformBroadcaster	tf_broadcaster_
tf::TransformListener	tf_listener_

Detailed Description

Definition at line 45 of file cob_pick_place_action.h.

Constructor & Destructor Documentation

CobPickPlaceActionServer::CobPickPlaceActionServer ( std::string  group_name )

inline

Definition at line 71 of file cob_pick_place_action.h.

CobPickPlaceActionServer::~CobPickPlaceActionServer

(

)

Member Function Documentation

moveit_msgs::GripperTranslation CobPickPlaceActionServer::calculateApproachDirection	(	geometry_msgs::Pose	msg_pose_grasp_FOOTPRINT_from_ARM7,
		geometry_msgs::Pose	msg_pose_pre_FOOTPRINT_from_ARM7
	)

Definition at line 797 of file cob_pick_place_action.cpp.

void CobPickPlaceActionServer::convertGraspKIT	(	Grasp *	current_grasp,
		geometry_msgs::PoseStamped	object_pose,
		std::vector< moveit_msgs::Grasp > &	grasps
	)

GOAL: -> Get TCPGraspPose for arm_7_link wrt base_footprint

Definition at line 412 of file cob_pick_place_action.cpp.

void CobPickPlaceActionServer::fillAllGraspsKIT	(	unsigned int	objectClassId,
		std::string	gripper_type,
		geometry_msgs::PoseStamped	object_pose,
		std::vector< moveit_msgs::Grasp > &	grasps
	)

Initialize GraspTable

Definition at line 354 of file cob_pick_place_action.cpp.

void CobPickPlaceActionServer::fillGraspsOR	(	unsigned int	objectClassId,
		std::string	gripper_type,
		std::string	gripper_side,
		unsigned int	grasp_id,
		geometry_msgs::PoseStamped	object_pose,
		std::vector< moveit_msgs::Grasp > &	grasps
	)

GOAL: -> Get TCPGraspPose for arm_7_link wrt base_footprint

Definition at line 551 of file cob_pick_place_action.cpp.

void CobPickPlaceActionServer::fillSingleGraspKIT	(	unsigned int	objectClassId,
		std::string	gripper_type,
		unsigned int	grasp_id,
		geometry_msgs::PoseStamped	object_pose,
		std::vector< moveit_msgs::Grasp > &	grasps
	)

Initialize GraspTable

Definition at line 384 of file cob_pick_place_action.cpp.

void CobPickPlaceActionServer::initialize

(

)

Definition at line 31 of file cob_pick_place_action.cpp.

void CobPickPlaceActionServer::insertObject	(	std::string	object_name,
		unsigned int	object_class,
		geometry_msgs::PoseStamped	object_pose
	)

Definition at line 314 of file cob_pick_place_action.cpp.

trajectory_msgs::JointTrajectory CobPickPlaceActionServer::MapHandConfiguration

(

sensor_msgs::JointState

table_config

)

Definition at line 699 of file cob_pick_place_action.cpp.

void CobPickPlaceActionServer::pick_goal_cb

(

const cob_pick_place_action::CobPickGoalConstPtr &

goal

)

Get grasps from corresponding GraspTable

Updating the object collision_object

Call Pick

Definition at line 90 of file cob_pick_place_action.cpp.

void CobPickPlaceActionServer::place_goal_cb

(

const cob_pick_place_action::CobPlaceGoalConstPtr &

goal

)

Definition at line 207 of file cob_pick_place_action.cpp.

void CobPickPlaceActionServer::run

(

)

Definition at line 84 of file cob_pick_place_action.cpp.

tf::Transform CobPickPlaceActionServer::transformPose	(	tf::Transform	transform_O_from_SDH,
		tf::Transform	transform_HEADER_from_OBJECT,
		std::string	object_frame_id
	)

ToDo: get palm-link name from robot!

Definition at line 737 of file cob_pick_place_action.cpp.

Member Data Documentation

boost::scoped_ptr<actionlib::SimpleActionClient<cob_grasp_generation::QueryGraspsAction> > CobPickPlaceActionServer::ac_grasps_or

private

Definition at line 56 of file cob_pick_place_action.h.

boost::scoped_ptr<actionlib::SimpleActionServer<cob_pick_place_action::CobPickAction> > CobPickPlaceActionServer::as_pick

private

Definition at line 53 of file cob_pick_place_action.h.

boost::scoped_ptr<actionlib::SimpleActionServer<cob_pick_place_action::CobPlaceAction> > CobPickPlaceActionServer::as_place

private

Definition at line 54 of file cob_pick_place_action.h.

char* CobPickPlaceActionServer::GraspTableIniFile

private

Definition at line 60 of file cob_pick_place_action.h.

moveit::planning_interface::MoveGroupInterface CobPickPlaceActionServer::group

private

Definition at line 58 of file cob_pick_place_action.h.

bool CobPickPlaceActionServer::last_grasp_valid

private

Definition at line 63 of file cob_pick_place_action.h.

std::string CobPickPlaceActionServer::last_object_name

private

Definition at line 64 of file cob_pick_place_action.h.

GraspTable* CobPickPlaceActionServer::m_GraspTable

private

Definition at line 61 of file cob_pick_place_action.h.

std::map<unsigned int,std::string> CobPickPlaceActionServer::map_classid_to_classname

private

Definition at line 68 of file cob_pick_place_action.h.

ros::NodeHandle CobPickPlaceActionServer::nh_

private

Definition at line 48 of file cob_pick_place_action.h.

ros::Publisher CobPickPlaceActionServer::pub_ao

private

Definition at line 51 of file cob_pick_place_action.h.

ros::Publisher CobPickPlaceActionServer::pub_co

private

Definition at line 50 of file cob_pick_place_action.h.

tf::TransformBroadcaster CobPickPlaceActionServer::tf_broadcaster_

private

Definition at line 66 of file cob_pick_place_action.h.

tf::TransformListener CobPickPlaceActionServer::tf_listener_

private

Definition at line 65 of file cob_pick_place_action.h.

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

• cob_pick_place_action.h
• cob_pick_place_action.cpp