openrave_grasp_planner.FastGrasping Class Reference

List of all members.

Classes
class	GraspingException
Public Member Functions
def	__init__
def	checkgraspfn
def	computeGrasp
Public Attributes
	approachgraphs
	count_ik_sols
	gmodel
	grasps
	ignoreik
	ikmodel
	jointvalues
	manipulatordirections
	returngrasps
	robot

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Detailed Description

Computes a valid grasp for a given object as fast as possible without relying on a pre-computed grasp set

Definition at line 39 of file openrave_grasp_planner.py.

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Constructor & Destructor Documentation

def openrave_grasp_planner.FastGrasping.__init__	(		self,
			robot,
			target,
			ignoreik = False,
			returngrasps = 1
	)

Definition at line 46 of file openrave_grasp_planner.py.

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Member Function Documentation

def openrave_grasp_planner.FastGrasping.checkgraspfn	(		self,
			contacts,
			finalconfig,
			grasp,
			info
	)

Definition at line 60 of file openrave_grasp_planner.py.

def openrave_grasp_planner.FastGrasping.computeGrasp	(		self,
			graspparameters
	)

Definition at line 119 of file openrave_grasp_planner.py.

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Member Data Documentation

openrave_grasp_planner.FastGrasping::approachgraphs

Definition at line 119 of file openrave_grasp_planner.py.

openrave_grasp_planner.FastGrasping::count_ik_sols

Definition at line 46 of file openrave_grasp_planner.py.

openrave_grasp_planner.FastGrasping::gmodel

Definition at line 46 of file openrave_grasp_planner.py.

openrave_grasp_planner.FastGrasping::grasps

Definition at line 46 of file openrave_grasp_planner.py.

openrave_grasp_planner.FastGrasping::ignoreik

Definition at line 46 of file openrave_grasp_planner.py.

openrave_grasp_planner.FastGrasping::ikmodel

Definition at line 46 of file openrave_grasp_planner.py.

openrave_grasp_planner.FastGrasping::jointvalues

Definition at line 46 of file openrave_grasp_planner.py.

openrave_grasp_planner.FastGrasping::manipulatordirections

Definition at line 46 of file openrave_grasp_planner.py.

openrave_grasp_planner.FastGrasping::returngrasps

Definition at line 46 of file openrave_grasp_planner.py.

openrave_grasp_planner.FastGrasping::robot

Definition at line 46 of file openrave_grasp_planner.py.

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

• openrave_grasp_planner.py