, including all inherited members.
| assembleJointTrajectory(std::string arm_name, const std::vector< std::vector< double > > &positions, float time_per_segment) | object_manipulator::MechanismInterface | |
| attached_object_pub_ | object_manipulator::MechanismInterface | [private] |
| attachObjectToGripper(std::string arm_name, std::string object_collision_name) | object_manipulator::MechanismInterface | |
| attemptMoveArmToGoal(std::string arm_name, const std::vector< double > &desired_joint_values, const arm_navigation_msgs::OrderedCollisionOperations &collision_operations, const std::vector< arm_navigation_msgs::LinkPadding > &link_padding, int max_tries=5, bool reset_map_if_stuck=true, double timeout=60) | object_manipulator::MechanismInterface | |
| attemptTrajectory(std::string arm_name, const trajectory_msgs::JointTrajectory &trajectory, bool unnormalize) | object_manipulator::MechanismInterface | |
| attemptTrajectory(std::string arm_name, const std::vector< std::vector< double > > &positions, bool unnormalize, float time_per_segment) | object_manipulator::MechanismInterface | |
| cache_planning_scene_ | object_manipulator::MechanismInterface | [private] |
| cachePlanningScene(const arm_navigation_msgs::OrderedCollisionOperations &collision_operations, const std::vector< arm_navigation_msgs::LinkPadding > &link_padding) | object_manipulator::MechanismInterface | [private] |
| callSwitchControllers(std::vector< std::string > start_controllers, std::vector< std::string > stop_controllers) | object_manipulator::MechanismInterface | [private] |
| cancelMoveArmGoal(std::string arm_name) | object_manipulator::MechanismInterface | |
| cartesian_controller_names_ | object_manipulator::MechanismInterface | [private] |
| cartesian_posture_pub_ | object_manipulator::MechanismInterface | |
| cartesian_pub_ | object_manipulator::MechanismInterface | |
| cartesianControllerName(std::string arm_name) | object_manipulator::MechanismInterface | |
| check_state_validity_client_ | object_manipulator::MechanismInterface | |
| checkController(std::string controller) | object_manipulator::MechanismInterface | |
| checkStateValidity(std::string arm_name, const std::vector< double > &joint_values, const arm_navigation_msgs::OrderedCollisionOperations &collision_operations, const std::vector< arm_navigation_msgs::LinkPadding > &link_padding) | object_manipulator::MechanismInterface | |
| checkStateValidity(std::string arm_name, const std::vector< double > &joint_values) | object_manipulator::MechanismInterface | [inline] |
| clearMoveArmGoals(double timeout=30) | object_manipulator::MechanismInterface | |
| clipDesiredPose(const geometry_msgs::PoseStamped ¤t_pose, const geometry_msgs::PoseStamped &desired_pose, double clip_dist, double clip_angle, double &resulting_clip_fraction) | object_manipulator::MechanismInterface | |
| clipDesiredPose(std::string arm_name, const geometry_msgs::PoseStamped &desired_pose, double clip_dist, double clip_angle, double &resulting_clip_fraction) | object_manipulator::MechanismInterface | |
| clipDesiredPose(std::string arm_name, const geometry_msgs::PoseStamped &desired_pose, double clip_dist, double clip_angle, double &resulting_clip_fraction, const std::vector< double > &goal_posture_suggestion, std::vector< double > &clipped_posture_goal) | object_manipulator::MechanismInterface | |
| cm_ | object_manipulator::MechanismInterface | [private] |
| collision_operations_cache_ | object_manipulator::MechanismInterface | [private] |
| convertGraspableObjectComponentsToFrame(object_manipulation_msgs::GraspableObject &object, std::string frame_id) | object_manipulator::MechanismInterface | |
| detachAllObjectsFromGripper(std::string arm_name) | object_manipulator::MechanismInterface | |
| detachAndAddBackObjectsAttachedToGripper(std::string arm_name, std::string object_collision_name) | object_manipulator::MechanismInterface | |
| fingertipPadding(std::string arm_name, double pad) | object_manipulator::MechanismInterface | [static] |
| fk_service_client_ | object_manipulator::MechanismInterface | |
| get_robot_state_client_ | object_manipulator::MechanismInterface | |
| getArmAngles(std::string arm_name, std::vector< double > &arm_angles) | object_manipulator::MechanismInterface | |
| getCollisionModels() | object_manipulator::MechanismInterface | [inline] |
| getFK(std::string arm_name, std::vector< double > positions, geometry_msgs::PoseStamped &pose_stamped) | object_manipulator::MechanismInterface | |
| getGripperPose(std::string arm_name, std::string frame_id) | object_manipulator::MechanismInterface | |
| getIKForPose(std::string arm_name, const geometry_msgs::PoseStamped &desired_pose, kinematics_msgs::GetConstraintAwarePositionIK::Response &ik_response, const arm_navigation_msgs::OrderedCollisionOperations &collision_operations, const std::vector< arm_navigation_msgs::LinkPadding > &link_padding) | object_manipulator::MechanismInterface | |
| getInterpolatedIK(std::string arm_name, geometry_msgs::PoseStamped start_pose, geometry_msgs::Vector3Stamped direction, float desired_trajectory_length, const std::vector< double > &seed_joint_position, const sensor_msgs::JointState &joint_state, const arm_navigation_msgs::OrderedCollisionOperations &collision_operations, const std::vector< arm_navigation_msgs::LinkPadding > &link_padding, bool reverse_trajectory, trajectory_msgs::JointTrajectory &trajectory, float &actual_trajectory_length) | object_manipulator::MechanismInterface | |
| getJointNames(std::string arm_name) | object_manipulator::MechanismInterface | |
| getMoveArmState(std::string arm_name) | object_manipulator::MechanismInterface | |
| getObjectPoseForGrasp(std::string arm_name, const geometry_msgs::Pose &grasp_pose) | object_manipulator::MechanismInterface | |
| getPlanningScene(const arm_navigation_msgs::OrderedCollisionOperations &collision_operations, const std::vector< arm_navigation_msgs::LinkPadding > &link_padding) | object_manipulator::MechanismInterface | |
| getPlanningSceneState() const | object_manipulator::MechanismInterface | [inline] |
| getRobotState(arm_navigation_msgs::RobotState &state) | object_manipulator::MechanismInterface | |
| grasp_status_client_ | object_manipulator::MechanismInterface | |
| graspPostureQuery(std::string arm_name, const object_manipulation_msgs::Grasp grasp) | object_manipulator::MechanismInterface | |
| gripperPadding(std::string arm_name, double pad) | object_manipulator::MechanismInterface | [static] |
| hand_posture_client_ | object_manipulator::MechanismInterface | |
| handPostureGraspAction(std::string arm_name, const object_manipulation_msgs::Grasp &grasp, int goal, float max_contact_force) | object_manipulator::MechanismInterface | |
| ik_query_client_ | object_manipulator::MechanismInterface | |
| ik_service_client_ | object_manipulator::MechanismInterface | |
| interpolated_ik_service_client_ | object_manipulator::MechanismInterface | |
| interpolated_ik_set_params_client_ | object_manipulator::MechanismInterface | |
| joint_controller_names_ | object_manipulator::MechanismInterface | [private] |
| joint_states_topic_ | object_manipulator::MechanismInterface | [private] |
| joint_trajectory_normalizer_service_ | object_manipulator::MechanismInterface | |
| jointControllerName(std::string arm_name) | object_manipulator::MechanismInterface | |
| link_padding_cache_ | object_manipulator::MechanismInterface | [private] |
| list_controllers_service_ | object_manipulator::MechanismInterface | |
| listener_ | object_manipulator::MechanismInterface | [private] |
| MechanismInterface() | object_manipulator::MechanismInterface | |
| modifyMoveArmGoal(arm_navigation_msgs::MoveArmGoal &move_arm_goal, arm_navigation_msgs::ArmNavigationErrorCodes &error_code, std::vector< arm_navigation_msgs::ContactInformation > &contact_info_) | object_manipulator::MechanismInterface | |
| move_arm_action_client_ | object_manipulator::MechanismInterface | |
| moveArmConstrained(std::string arm_name, const geometry_msgs::PoseStamped &commanded_pose, const arm_navigation_msgs::OrderedCollisionOperations &collision_operations, const std::vector< arm_navigation_msgs::LinkPadding > &link_padding, const arm_navigation_msgs::Constraints &path_constraints, const double &redundancy=0.0, const bool &compute_viable_pose=true) | object_manipulator::MechanismInterface | |
| moveArmToPose(std::string arm_name, const geometry_msgs::PoseStamped &desired_pose, const arm_navigation_msgs::OrderedCollisionOperations &collision_operations, const std::vector< arm_navigation_msgs::LinkPadding > &link_padding) | object_manipulator::MechanismInterface | |
| moveArmToPoseCartesian(std::string arm_name, const geometry_msgs::PoseStamped &desired_pose, ros::Duration timeout, double dist_tol=0.001, double angle_tol=0.05, double clip_dist=.02, double clip_angle=.16, double overshoot_dist=.005, double overshoot_angle=.087, double timestep=0.1, const std::vector< double > &goal_posture_suggestion=std::vector< double >()) | object_manipulator::MechanismInterface | |
| negate(const geometry_msgs::Vector3 &vec) | object_manipulator::MechanismInterface | [inline] |
| normalize(const geometry_msgs::Vector3 &vec) | object_manipulator::MechanismInterface | [inline] |
| overshootDesiredPose(std::string arm_name, const geometry_msgs::PoseStamped &desired_pose, double overshoot_dist, double overshoot_angle, double dist_tol, double angle_tol) | object_manipulator::MechanismInterface | |
| planning_scene_cache_empty_ | object_manipulator::MechanismInterface | [private] |
| planning_scene_state_ | object_manipulator::MechanismInterface | [private] |
| point_head_action_client_ | object_manipulator::MechanismInterface | |
| pointHeadAction(const geometry_msgs::PointStamped &target, std::string pointing_frame="/narrow_stereo_optical_frame", bool wait_for_result=true) | object_manipulator::MechanismInterface | |
| poseDists(geometry_msgs::Pose start, geometry_msgs::Pose end, double &pos_dist, double &angle) | object_manipulator::MechanismInterface | |
| positionAndAngleDist(Eigen::Affine3d start, Eigen::Affine3d end, double &pos_dist, double &angle, Eigen::Vector3d &axis, Eigen::Vector3d &direction) | object_manipulator::MechanismInterface | |
| priv_nh_ | object_manipulator::MechanismInterface | [private] |
| reactive_grasp_action_client_ | object_manipulator::MechanismInterface | |
| reactive_lift_action_client_ | object_manipulator::MechanismInterface | |
| reactive_place_action_client_ | object_manipulator::MechanismInterface | |
| reset_collision_map_service_ | object_manipulator::MechanismInterface | |
| root_nh_ | object_manipulator::MechanismInterface | [private] |
| sendCartesianPoseCommand(std::string arm_name, geometry_msgs::PoseStamped desired_pose) | object_manipulator::MechanismInterface | |
| sendCartesianPostureCommand(std::string arm_name, std::vector< double > arm_angles) | object_manipulator::MechanismInterface | |
| set_planning_scene_diff_service_ | object_manipulator::MechanismInterface | |
| setCartesianPostureGoalToCurrentAngles(std::string arm_name) | object_manipulator::MechanismInterface | |
| setInterpolatedIKParams(std::string arm_name, int num_steps, int collision_check_resolution, bool start_from_end) | object_manipulator::MechanismInterface | [private] |
| startController(std::string controller) | object_manipulator::MechanismInterface | |
| stopController(std::string controller) | object_manipulator::MechanismInterface | |
| switch_controller_service_ | object_manipulator::MechanismInterface | |
| switchControllers(std::string start_controller, std::string stop_controller) | object_manipulator::MechanismInterface | |
| switchToCartesian(std::string arm_name) | object_manipulator::MechanismInterface | |
| switchToJoint(std::string arm_name) | object_manipulator::MechanismInterface | |
| traj_action_client_ | object_manipulator::MechanismInterface | |
| transformPointCloud(std::string target_frame, const sensor_msgs::PointCloud &cloud_in, sensor_msgs::PointCloud &cloud_out) | object_manipulator::MechanismInterface | |
| transformPose(const std::string target_frame, const geometry_msgs::PoseStamped &stamped_in) | object_manipulator::MechanismInterface | |
| translateGripper(std::string arm_name, const geometry_msgs::Vector3Stamped &direction, arm_navigation_msgs::OrderedCollisionOperations ord, const std::vector< arm_navigation_msgs::LinkPadding > &link_padding, float requested_distance, float min_distance, float &actual_distance) | object_manipulator::MechanismInterface | |
| translateGripperCartesian(std::string arm_name, const geometry_msgs::Vector3Stamped &direction, ros::Duration timeout, double dist_tol=.001, double angle_tol=.05, double clip_dist=.02, double clip_angle=.16, double overshoot_dist=0.005, double overshoot_angle=0.087, double timestep=0.1) | object_manipulator::MechanismInterface | |
| translateGripperPose(geometry_msgs::Vector3Stamped translation, geometry_msgs::PoseStamped start_pose, std::string arm_id) | object_manipulator::MechanismInterface | |
| unnormalizeTrajectory(std::string arm_name, const trajectory_msgs::JointTrajectory &input_trajectory, trajectory_msgs::JointTrajectory &normalized_trajectory) | object_manipulator::MechanismInterface | |
| vectorLen(const geometry_msgs::Vector3 &vec) | object_manipulator::MechanismInterface | [inline] |
| ~MechanismInterface() | object_manipulator::MechanismInterface | [inline] |