Base class, interface and common functionality for grasp execution. More...

#include <grasp_executor.h>

Inheritance diagram for object_manipulator::GraspExecutor:

Public Member Functions
object_manipulation_msgs::GraspResult	checkAndExecuteGrasp (const object_manipulation_msgs::PickupGoal &pickup_goal, const object_manipulation_msgs::Grasp &grasp)
	Checks if the grasp is feasible, then executes it.
	GraspExecutor (GraspMarkerPublisher *pub)
	Also sets the marker publisher that is to be used; pass NULL to disable marker publishing.
virtual object_manipulation_msgs::GraspResult	lift (const object_manipulation_msgs::PickupGoal &pickup_goal)
	Lifts the object after grasping.
object_manipulation_msgs::GraspResult	Result (int result_code, bool continuation)
virtual object_manipulation_msgs::GraspResult	retreat (const object_manipulation_msgs::PickupGoal &pickup_goal, const object_manipulation_msgs::Grasp &grasp)
	Called if the grasp fails to retreat the gripper.
virtual	~GraspExecutor ()
Protected Member Functions
arm_navigation_msgs::OrderedCollisionOperations	collisionOperationsForLift (const object_manipulation_msgs::PickupGoal &pickup_goal)
	Collision operations to be used when planning the lift motion.
virtual object_manipulation_msgs::GraspResult	executeGrasp (const object_manipulation_msgs::PickupGoal &pickup_goal, const object_manipulation_msgs::Grasp &grasp)=0
	Implementation of the actual execution stage of the grasp.
std::vector < arm_navigation_msgs::LinkPadding >	fingertipPadding (const object_manipulation_msgs::PickupGoal &pickup_goal, double pad)
	Helper function for setting padding on fingertips.
object_manipulation_msgs::GraspResult	getInterpolatedIKForLift (const object_manipulation_msgs::PickupGoal &pickup_goal, const object_manipulation_msgs::Grasp &grasp, const std::vector< double > &grasp_joint_angles, trajectory_msgs::JointTrajectory &lift_trajectory)
	Calls the interpolated IK service to find a path from the grasp to lift the object.
std::vector < arm_navigation_msgs::LinkPadding >	linkPaddingForLift (const object_manipulation_msgs::PickupGoal &pickup_goal)
	Dynamic link padding to be used when planning the lift motion.
virtual object_manipulation_msgs::GraspResult	prepareGrasp (const object_manipulation_msgs::PickupGoal &pickup_goal, const object_manipulation_msgs::Grasp &grasp)=0
	Performs an initial check to see if the grasp is valid and generates information needed to execute it.
Protected Attributes
trajectory_msgs::JointTrajectory	interpolated_lift_trajectory_
	The result of interpolated IK from grasp to lift.
unsigned int	marker_id_
	The marker id of this grasp, retrieved from the publisher.
GraspMarkerPublisher *	marker_publisher_
	The marker publisher that will be used; NULL is marker publishing is disabled.

Detailed Description

Base class, interface and common functionality for grasp execution.

Defines the interface for a grasp executor:

Definition at line 53 of file grasp_executor.h.

Constructor & Destructor Documentation

object_manipulator::GraspExecutor::GraspExecutor ( GraspMarkerPublisher * pub ) [inline]

Also sets the marker publisher that is to be used; pass NULL to disable marker publishing.

Definition at line 108 of file grasp_executor.h.

virtual object_manipulator::GraspExecutor::~GraspExecutor ( ) [inline, virtual]

Definition at line 110 of file grasp_executor.h.

Member Function Documentation

GraspResult object_manipulator::GraspExecutor::checkAndExecuteGrasp	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		const object_manipulation_msgs::Grasp &	grasp
	)

Checks if the grasp is feasible, then executes it.

Definition at line 145 of file grasp_executor.cpp.

arm_navigation_msgs::OrderedCollisionOperations object_manipulator::GraspExecutor::collisionOperationsForLift ( const object_manipulation_msgs::PickupGoal & pickup_goal ) [protected]

Collision operations to be used when planning the lift motion.

Disables collision between gripper and target

Reimplemented in object_manipulator::UnsafeGraspExecutor.

Definition at line 49 of file grasp_executor.cpp.

virtual object_manipulation_msgs::GraspResult object_manipulator::GraspExecutor::executeGrasp	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		const object_manipulation_msgs::Grasp &	grasp
	)		`[protected, pure virtual]`

Implementation of the actual execution stage of the grasp.

Can use information generated during prepareGrasp

Implemented in object_manipulator::GraspExecutorWithApproach, object_manipulator::UnsafeGraspExecutor, object_manipulator::SimpleGraspExecutor, and object_manipulator::ReactiveGraspExecutor.

std::vector<arm_navigation_msgs::LinkPadding> object_manipulator::GraspExecutor::fingertipPadding	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		double	pad
	)		`[protected]`

Helper function for setting padding on fingertips.

GraspResult object_manipulator::GraspExecutor::getInterpolatedIKForLift	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		const object_manipulation_msgs::Grasp &	grasp,
		const std::vector< double > &	grasp_joint_angles,
		trajectory_msgs::JointTrajectory &	lift_trajectory
	)		`[protected]`

Calls the interpolated IK service to find a path from the grasp to lift the object.

Definition at line 81 of file grasp_executor.cpp.

GraspResult object_manipulator::GraspExecutor::lift ( const object_manipulation_msgs::PickupGoal & pickup_goal ) [virtual]

Lifts the object after grasping.

Generally returns SUCCESS if full lift was achieved, UNFEASIBLE if no movement was performed and FAILED if some movement was achieved but it fell short of a full lift.

Will often use information that was pre-generated during grasp execution, so this should always be called after executeGrasp() has succeeded.

Reimplemented in object_manipulator::ReactiveGraspExecutor.

Definition at line 131 of file grasp_executor.cpp.

std::vector< arm_navigation_msgs::LinkPadding > object_manipulator::GraspExecutor::linkPaddingForLift ( const object_manipulation_msgs::PickupGoal & pickup_goal ) [protected]

Dynamic link padding to be used when planning the lift motion.

Zero padding on fingertip links

Definition at line 72 of file grasp_executor.cpp.

virtual object_manipulation_msgs::GraspResult object_manipulator::GraspExecutor::prepareGrasp	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		const object_manipulation_msgs::Grasp &	grasp
	)		`[protected, pure virtual]`

Performs an initial check to see if the grasp is valid and generates information needed to execute it.

Implemented in object_manipulator::GraspExecutorWithApproach, and object_manipulator::SimpleGraspExecutor.

object_manipulation_msgs::GraspResult object_manipulator::GraspExecutor::Result	(	int	result_code,
		bool	continuation
	)		`[inline]`

Definition at line 56 of file grasp_executor.h.

virtual object_manipulation_msgs::GraspResult object_manipulator::GraspExecutor::retreat	(	const object_manipulation_msgs::PickupGoal &	pickup_goal,
		const object_manipulation_msgs::Grasp &	grasp
	)		`[inline, virtual]`

Called if the grasp fails to retreat the gripper.

By default, a grasp executor does not know how to do this. Generally returns UNFEASIBLE if no movement has been performed at all, SUCCESS if a full retreat was achieved and FAILED is some movement was performed but it fell short of a full retreat.

Reimplemented in object_manipulator::GraspExecutorWithApproach.

Definition at line 128 of file grasp_executor.h.