Public Member Functions | Protected Member Functions | Protected Attributes
object_manipulator::GraspPerformer Class Reference

#include <approach_lift_grasp.h>

Inheritance diagram for object_manipulator::GraspPerformer:
Inheritance graph
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List of all members.

Public Member Functions

 GraspPerformer ()
virtual void performGrasps (const object_manipulation_msgs::PickupGoal &pickup_goal, const std::vector< object_manipulation_msgs::Grasp > &grasps, std::vector< GraspExecutionInfo > &execution_info)
 Attempts to perform a set of grasps.
object_manipulation_msgs::GraspResult Result (int result_code, bool continuation)
 Helper function for convenience.
void setFeedbackFunction (boost::function< void(size_t)> f)
 Sets the feedback function.
void setInterruptFunction (boost::function< bool()> f)
 Sets the interrupt function.
void setMarkerPublisher (GraspMarkerPublisher *pub)
 Sets the marker publisher to be used.

Protected Member Functions

virtual void performGrasp (const object_manipulation_msgs::PickupGoal &pickup_goal, const object_manipulation_msgs::Grasp &grasp, GraspExecutionInfo &execution_info)=0
 Attempts to perform a single grasp.

Protected Attributes

boost::function< void(size_t)> feedback_function_
boost::function< bool()> interrupt_function_
 Function used to check for interrupts.
GraspMarkerPublishermarker_publisher_
 The marker publisher that will be used; NULL is marker publishing is disabled.

Detailed Description

Attempts to physically perform grasps, given the test results and information generated by a grasp tester.

Definition at line 107 of file approach_lift_grasp.h.


Constructor & Destructor Documentation

Definition at line 124 of file approach_lift_grasp.h.


Member Function Documentation

virtual void object_manipulator::GraspPerformer::performGrasp ( const object_manipulation_msgs::PickupGoal pickup_goal,
const object_manipulation_msgs::Grasp grasp,
GraspExecutionInfo execution_info 
) [protected, pure virtual]

Attempts to perform a single grasp.

Implemented in object_manipulator::StandardGraspPerformer.

Attempts to perform a set of grasps.

Definition at line 77 of file approach_lift_grasp.cpp.

Helper function for convenience.

Definition at line 141 of file approach_lift_grasp.h.

void object_manipulator::GraspPerformer::setFeedbackFunction ( boost::function< void(size_t)>  f) [inline]

Sets the feedback function.

Definition at line 135 of file approach_lift_grasp.h.

void object_manipulator::GraspPerformer::setInterruptFunction ( boost::function< bool()>  f) [inline]

Sets the interrupt function.

Definition at line 138 of file approach_lift_grasp.h.

Sets the marker publisher to be used.

Definition at line 132 of file approach_lift_grasp.h.


Member Data Documentation

boost::function<void(size_t)> object_manipulator::GraspPerformer::feedback_function_ [protected]

Function used to provide feedback on which grasp is being tested Might find a more elegant mechanism in the future

Definition at line 119 of file approach_lift_grasp.h.

Function used to check for interrupts.

Definition at line 122 of file approach_lift_grasp.h.

The marker publisher that will be used; NULL is marker publishing is disabled.

Definition at line 115 of file approach_lift_grasp.h.


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


object_manipulator
Author(s): Matei Ciocarlie and Kaijen Hsiao
autogenerated on Thu Jan 2 2014 11:39:04