Uses a more advanced GuidedPlanner for grasp planning on dexterous hands; saves the results in a database. More...

#include <guided_grasp_planning_task.h>

Inheritance diagram for dbase_grasp_planner::GuidedGraspPlanningTask:

Public Slots
void	plannerComplete ()
	Connected to the complete() signal of the planner.
void	plannerUpdate ()
	Connected to the update() signal of the planner.
Public Member Functions
	GuidedGraspPlanningTask (graspit_dbase_tasks::DBTaskDispatcher disp, db_planner::DatabaseManager mgr, db_planner::TaskRecord rec)
	Just a stub for now.
virtual void	start ()
	Loads the hand and the object, initializes and starts a guided planner.
	~GuidedGraspPlanningTask ()
	Removes the object that has been used from the sim world, but not the hand.
Private Member Functions
bool	saveGrasp (const GraspPlanningState pre_gps, const GraspPlanningState final_gps)
	Saves a solution grasp to the database.
Private Attributes
Hand *	mHand
	The hand we are planning with.
size_t	mLastSolution
	The index of the last solution saved.
GraspableBody *	mObject
	The object we are planning on.
GuidedPlanner *	mPlanner
	The planner that we are using.
db_planner::PlanningTaskRecord	mPlanningTask
	The record of the actual planning task.

Detailed Description

Uses a more advanced GuidedPlanner for grasp planning on dexterous hands; saves the results in a database.

This Task is similar to the GraspPlanningTask in this same package. See that class documentation to get started.

The key difference is that this task uses a different type of GraspIt! planner, namely the GuidedPlanner, which is better suited for more dexterous hands.

This task is better suited for planning with the Schunk SDH or the Barrett hands.

Definition at line 58 of file guided_grasp_planning_task.h.

Constructor & Destructor Documentation

dbase_grasp_planner::GuidedGraspPlanningTask::GuidedGraspPlanningTask	(	graspit_dbase_tasks::DBTaskDispatcher *	disp,
		db_planner::DatabaseManager *	mgr,
		db_planner::TaskRecord	rec
	)