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

#include <approach_lift_grasp.h>

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

Public Member Functions

 GraspTester ()
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.
virtual void testGrasps (const object_manipulation_msgs::PickupGoal &pickup_goal, const std::vector< object_manipulation_msgs::Grasp > &grasps, std::vector< GraspExecutionInfo > &execution_info, bool return_on_first_hit)
 Tests a set of grasps and provides their execution info.

Protected Member Functions

virtual void testGrasp (const object_manipulation_msgs::PickupGoal &pickup_goal, const object_manipulation_msgs::Grasp &grasp, GraspExecutionInfo &execution_info)=0
 Tests 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

Tests grasps for feasibility in the current environment, and generates info needed for execution

Definition at line 61 of file approach_lift_grasp.h.


Constructor & Destructor Documentation

Definition at line 78 of file approach_lift_grasp.h.


Member Function Documentation

Helper function for convenience.

Definition at line 96 of file approach_lift_grasp.h.

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

Sets the feedback function.

Definition at line 90 of file approach_lift_grasp.h.

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

Sets the interrupt function.

Definition at line 93 of file approach_lift_grasp.h.

Sets the marker publisher to be used.

Definition at line 87 of file approach_lift_grasp.h.

virtual void object_manipulator::GraspTester::testGrasp ( const object_manipulation_msgs::PickupGoal pickup_goal,
const object_manipulation_msgs::Grasp grasp,
GraspExecutionInfo execution_info 
) [protected, pure virtual]
void object_manipulator::GraspTester::testGrasps ( const object_manipulation_msgs::PickupGoal pickup_goal,
const std::vector< object_manipulation_msgs::Grasp > &  grasps,
std::vector< GraspExecutionInfo > &  execution_info,
bool  return_on_first_hit 
) [virtual]

Tests a set of grasps and provides their execution info.

Reimplemented in object_manipulator::GraspTesterFast.

Definition at line 51 of file approach_lift_grasp.cpp.


Member Data Documentation

boost::function<void(size_t)> object_manipulator::GraspTester::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 73 of file approach_lift_grasp.h.

Function used to check for interrupts.

Definition at line 76 of file approach_lift_grasp.h.

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

Definition at line 69 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