Public Member Functions | Private Member Functions | Private Attributes | List of all members
simple_grasping::ShapeGraspPlanner Class Reference

A simple grasp planner that uses the bounding box shape to generate viable grasps. More...

#include <shape_grasp_planner.h>

Public Member Functions

virtual int plan (const grasping_msgs::Object &object, std::vector< moveit_msgs::Grasp > &grasps)
 
 ShapeGraspPlanner (ros::NodeHandle &nh)
 Constructor, loads grasp planner configuration from ROS params. More...
 

Private Member Functions

int createGrasp (const geometry_msgs::PoseStamped &pose, double gripper_opening, double gripper_pitch, double x_offset, double z_offset, double quality)
 Generate a grasp, add it to internal grasps_. More...
 
int createGraspSeries (const geometry_msgs::PoseStamped &pose, double depth, double width, double height, bool use_vertical=true)
 Generate a series of grasps around the edge of a shape. More...
 
trajectory_msgs::JointTrajectory makeGraspPosture (double pose)
 

Private Attributes

double approach_desired_translation_
 
std::string approach_frame_
 
double approach_min_translation_
 
double finger_depth_
 
double grasp_duration_
 
std::vector< moveit_msgs::Grasp > grasps_
 
double gripper_tolerance_
 
std::string left_joint_
 
double max_effort_
 
double max_opening_
 
double retreat_desired_translation_
 
std::string retreat_frame_
 
double retreat_min_translation_
 
std::string right_joint_
 
double tool_offset_
 

Detailed Description

A simple grasp planner that uses the bounding box shape to generate viable grasps.

Definition at line 46 of file shape_grasp_planner.h.

Constructor & Destructor Documentation

simple_grasping::ShapeGraspPlanner::ShapeGraspPlanner ( ros::NodeHandle nh)

Constructor, loads grasp planner configuration from ROS params.

Parameters
nhNodehandle to use for accessing grasp planner parameters.

Definition at line 75 of file shape_grasp_planner.cpp.

Member Function Documentation

int simple_grasping::ShapeGraspPlanner::createGrasp ( const geometry_msgs::PoseStamped &  pose,
double  gripper_opening,
double  gripper_pitch,
double  x_offset,
double  z_offset,
double  quality 
)
private

Generate a grasp, add it to internal grasps_.

Parameters
poseThe pose of the end effector tool point
gripper_pitchThe pitch of the gripper on approach
x_offsetThe offset in the x direction (in).
z_offsetThe offset in the z direction (up).
qualityThe quality to ascribe to this grasp.
Returns
The number of grasps generated.

Definition at line 108 of file shape_grasp_planner.cpp.

int simple_grasping::ShapeGraspPlanner::createGraspSeries ( const geometry_msgs::PoseStamped &  pose,
double  depth,
double  width,
double  height,
bool  use_vertical = true 
)
private

Generate a series of grasps around the edge of a shape.

Parameters
poseThe pose of the end effector tool point.
depthThe depth of the shape.
widthThe width of the shape.
heightThe height of the shape.
use_verticalWhether to include vertical poses. If coming from two sides, the second call probably should not generate vertical poses.
Returns
The number of grasps generated.

Definition at line 162 of file shape_grasp_planner.cpp.

trajectory_msgs::JointTrajectory simple_grasping::ShapeGraspPlanner::makeGraspPosture ( double  pose)
private

Definition at line 292 of file shape_grasp_planner.cpp.

int simple_grasping::ShapeGraspPlanner::plan ( const grasping_msgs::Object &  object,
std::vector< moveit_msgs::Grasp > &  grasps 
)
virtual

Definition at line 215 of file shape_grasp_planner.cpp.

Member Data Documentation

double simple_grasping::ShapeGraspPlanner::approach_desired_translation_
private

Definition at line 104 of file shape_grasp_planner.h.

std::string simple_grasping::ShapeGraspPlanner::approach_frame_
private

Definition at line 102 of file shape_grasp_planner.h.

double simple_grasping::ShapeGraspPlanner::approach_min_translation_
private

Definition at line 103 of file shape_grasp_planner.h.

double simple_grasping::ShapeGraspPlanner::finger_depth_
private

Definition at line 98 of file shape_grasp_planner.h.

double simple_grasping::ShapeGraspPlanner::grasp_duration_
private

Definition at line 96 of file shape_grasp_planner.h.

std::vector<moveit_msgs::Grasp> simple_grasping::ShapeGraspPlanner::grasps_
private

Definition at line 112 of file shape_grasp_planner.h.

double simple_grasping::ShapeGraspPlanner::gripper_tolerance_
private

Definition at line 99 of file shape_grasp_planner.h.

std::string simple_grasping::ShapeGraspPlanner::left_joint_
private

Definition at line 93 of file shape_grasp_planner.h.

double simple_grasping::ShapeGraspPlanner::max_effort_
private

Definition at line 95 of file shape_grasp_planner.h.

double simple_grasping::ShapeGraspPlanner::max_opening_
private

Definition at line 94 of file shape_grasp_planner.h.

double simple_grasping::ShapeGraspPlanner::retreat_desired_translation_
private

Definition at line 109 of file shape_grasp_planner.h.

std::string simple_grasping::ShapeGraspPlanner::retreat_frame_
private

Definition at line 107 of file shape_grasp_planner.h.

double simple_grasping::ShapeGraspPlanner::retreat_min_translation_
private

Definition at line 108 of file shape_grasp_planner.h.

std::string simple_grasping::ShapeGraspPlanner::right_joint_
private

Definition at line 93 of file shape_grasp_planner.h.

double simple_grasping::ShapeGraspPlanner::tool_offset_
private

Definition at line 97 of file shape_grasp_planner.h.


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


simple_grasping
Author(s): Michael Ferguson
autogenerated on Wed Jun 5 2019 20:04:47