Public Member Functions
	ProbabilisticGraspPlannerNode ()
virtual	~ProbabilisticGraspPlannerNode ()
Private Member Functions
bool	graspPlanningCB (object_manipulation_msgs::GraspPlanning::Request &request, object_manipulation_msgs::GraspPlanning::Response &response)
	Callback for the grasp planning service.
bool	graspTestCB (object_manipulation_msgs::GraspPlanning::Request &request, object_manipulation_msgs::GraspPlanning::Response &response)
	Callback for the grasp test service.
bool	initializeDatabase ()
	Initializes a connection to the household_objects_database.
void	visualizeGrasps (const geometry_msgs::PoseStamped &grasp_frame, const std::vector< object_manipulation_msgs::Grasp > &grasps)
Private Attributes
ObjectsDatabasePtr	database_
object_manipulator::GraspMarkerPublisher	debug_grasp_marker_pub_
	Marker publisher for intermediate grasp lists grouped during the planning process.
ros::ServiceServer	grasp_execution_srv_
	Service server for grasp execution.
ros::ServiceClient	grasp_planning_srv_
	Service client for the grasp planning.
ros::ServiceServer	grasp_test_srv_
	Service server for grasp testing.
ros::ServiceClient	object_detection_srv_
	Service client for the object detection calls.
ProbabilisticGraspPlannerPtr	planner_
	The actual plannner.
ros::NodeHandle	priv_nh_
object_manipulator::GraspMarkerPublisher	rank_grasp_marker_pub_
	Marker publisher for all of the grasps colored by rank.
object_manipulator::GraspMarkerPublisher	results_grasp_marker_pub_
	Marker publisher for the final grasps list which is returned.
ros::NodeHandle	root_nh_
bool	show_colored_grasps_

Detailed Description

Definition at line 67 of file probabilistic_grasp_planner_node.cpp.

Constructor & Destructor Documentation

probabilistic_grasp_planner::ProbabilisticGraspPlannerNode::ProbabilisticGraspPlannerNode ( )

Definition at line 121 of file probabilistic_grasp_planner_node.cpp.

probabilistic_grasp_planner::ProbabilisticGraspPlannerNode::~ProbabilisticGraspPlannerNode ( ) [virtual]

Definition at line 209 of file probabilistic_grasp_planner_node.cpp.

Member Function Documentation

bool probabilistic_grasp_planner::ProbabilisticGraspPlannerNode::graspPlanningCB	(	object_manipulation_msgs::GraspPlanning::Request &	request,
		object_manipulation_msgs::GraspPlanning::Response &	response
	)		`[private]`

Callback for the grasp planning service.

Definition at line 171 of file probabilistic_grasp_planner_node.cpp.

bool probabilistic_grasp_planner::ProbabilisticGraspPlannerNode::graspTestCB	(	object_manipulation_msgs::GraspPlanning::Request &	request,
		object_manipulation_msgs::GraspPlanning::Response &	response
	)		`[private]`

Callback for the grasp test service.

Definition at line 189 of file probabilistic_grasp_planner_node.cpp.

bool probabilistic_grasp_planner::ProbabilisticGraspPlannerNode::initializeDatabase ( ) [private]

Initializes a connection to the household_objects_database.

Definition at line 143 of file probabilistic_grasp_planner_node.cpp.

void probabilistic_grasp_planner::ProbabilisticGraspPlannerNode::visualizeGrasps	(	const geometry_msgs::PoseStamped &	grasp_frame,
		const std::vector< object_manipulation_msgs::Grasp > &	grasps
	)		`[private]`