pick_place::PickPlace Class Reference

#include <pick_place.h>

Inheritance diagram for pick_place::PickPlace:

Public Member Functions
void	displayComputedMotionPlans (bool flag)
void	displayProcessedGrasps (bool flag)
const constraint_samplers::ConstraintSamplerManagerPtr &	getConstraintsSamplerManager () const
const planning_pipeline::PlanningPipelinePtr &	getPlanningPipeline () const
const robot_model::RobotModelConstPtr &	getRobotModel () const
	PickPlace (const planning_pipeline::PlanningPipelinePtr &planning_pipeline)
PickPlanPtr	planPick (const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::PickupGoal &goal) const
	Plan the sequence of motions that perform a pickup action. More...
PlacePlanPtr	planPlace (const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::PlaceGoal &goal) const
	Plan the sequence of motions that perform a placement action. More...
void	visualizeGrasp (const ManipulationPlanPtr &plan) const
void	visualizeGrasps (const std::vector< ManipulationPlanPtr > &plans) const
void	visualizePlan (const ManipulationPlanPtr &plan) const

Static Public Attributes
static const double	DEFAULT_GRASP_POSTURE_COMPLETION_DURATION = 7.0
static const std::string	DISPLAY_GRASP_TOPIC = "display_grasp_markers"
static const std::string	DISPLAY_PATH_TOPIC = planning_pipeline::PlanningPipeline::DISPLAY_PATH_TOPIC

Private Attributes
constraint_sampler_manager_loader::ConstraintSamplerManagerLoaderPtr	constraint_sampler_manager_loader_
bool	display_computed_motion_plans_
bool	display_grasps_
ros::Publisher	display_path_publisher_
ros::Publisher	grasps_publisher_
ros::NodeHandle	nh_
planning_pipeline::PlanningPipelinePtr	planning_pipeline_

Detailed Description

Definition at line 109 of file pick_place.h.

Constructor & Destructor Documentation

pick_place::PickPlace::PickPlace

(

const planning_pipeline::PlanningPipelinePtr &

planning_pipeline

)

Definition at line 96 of file pick_place.cpp.

Member Function Documentation

void pick_place::PickPlace::displayComputedMotionPlans

(

bool

flag

)

Definition at line 111 of file pick_place.cpp.

void pick_place::PickPlace::displayProcessedGrasps

(

bool

flag

)

Definition at line 102 of file pick_place.cpp.

const constraint_samplers::ConstraintSamplerManagerPtr& pick_place::PickPlace::getConstraintsSamplerManager ( ) const

inline

Definition at line 120 of file pick_place.h.

const planning_pipeline::PlanningPipelinePtr& pick_place::PickPlace::getPlanningPipeline ( ) const

inline

Definition at line 125 of file pick_place.h.

const robot_model::RobotModelConstPtr& pick_place::PickPlace::getRobotModel ( ) const

inline

Definition at line 130 of file pick_place.h.

PickPlanPtr pick_place::PickPlace::planPick	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const moveit_msgs::PickupGoal &	goal
	)		const

Plan the sequence of motions that perform a pickup action.

Definition at line 228 of file pick.cpp.

PlacePlanPtr pick_place::PickPlace::planPlace	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const moveit_msgs::PlaceGoal &	goal
	)		const

Plan the sequence of motions that perform a placement action.

Definition at line 368 of file place.cpp.

void pick_place::PickPlace::visualizeGrasp

(

const ManipulationPlanPtr &

plan

)

const

Definition at line 141 of file pick_place.cpp.

void pick_place::PickPlace::visualizeGrasps

(

const std::vector< ManipulationPlanPtr > &

plans

)

const

Definition at line 180 of file pick_place.cpp.

void pick_place::PickPlace::visualizePlan

(

const ManipulationPlanPtr &

plan

)

const

Definition at line 120 of file pick_place.cpp.

Member Data Documentation

constraint_sampler_manager_loader::ConstraintSamplerManagerLoaderPtr pick_place::PickPlace::constraint_sampler_manager_loader_

private

Definition at line 160 of file pick_place.h.

const double pick_place::PickPlace::DEFAULT_GRASP_POSTURE_COMPLETION_DURATION = 7.0

static

Definition at line 116 of file pick_place.h.

bool pick_place::PickPlace::display_computed_motion_plans_

private

Definition at line 155 of file pick_place.h.

const std::string pick_place::PickPlace::DISPLAY_GRASP_TOPIC = "display_grasp_markers"

static

Definition at line 113 of file pick_place.h.

bool pick_place::PickPlace::display_grasps_

private

Definition at line 156 of file pick_place.h.

ros::Publisher pick_place::PickPlace::display_path_publisher_

private

Definition at line 157 of file pick_place.h.

const std::string pick_place::PickPlace::DISPLAY_PATH_TOPIC = planning_pipeline::PlanningPipeline::DISPLAY_PATH_TOPIC

static

Definition at line 112 of file pick_place.h.

ros::Publisher pick_place::PickPlace::grasps_publisher_

private

Definition at line 158 of file pick_place.h.

ros::NodeHandle pick_place::PickPlace::nh_

private

Definition at line 153 of file pick_place.h.

planning_pipeline::PlanningPipelinePtr pick_place::PickPlace::planning_pipeline_

private

Definition at line 154 of file pick_place.h.

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

• pick_place.h
• pick.cpp
• pick_place.cpp
• place.cpp