Public Member Functions
	BayesianGraspPlannerNode ()
virtual	~BayesianGraspPlannerNode ()
Private Member Functions
bool	graspPlanningCB (object_manipulation_msgs::GraspPlanning::Request &request, object_manipulation_msgs::GraspPlanning::Response &response)
	Callback for the grasp planning service.
void	graspPlanningExecuteCB (const object_manipulation_msgs::GraspPlanningGoalConstPtr &goal)
	Execute callback for grasp planning server.
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.
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.
actionlib::SimpleActionServer < object_manipulation_msgs::GraspPlanningAction >	grasp_planning_aserv_
	Action server for grasp planning.
object_manipulation_msgs::GraspPlanningResult	grasp_planning_result_
ros::ServiceServer	grasp_test_srv_
	Service server for grasp testing.
BayesianGraspPlannerPtr	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_

Detailed Description

Definition at line 69 of file bayesian_grasp_planner_node.cpp.

Constructor & Destructor Documentation

bayesian_grasp_planner::BayesianGraspPlannerNode::BayesianGraspPlannerNode ( )

Definition at line 122 of file bayesian_grasp_planner_node.cpp.

bayesian_grasp_planner::BayesianGraspPlannerNode::~BayesianGraspPlannerNode ( ) [virtual]

Definition at line 231 of file bayesian_grasp_planner_node.cpp.

Member Function Documentation

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

Callback for the grasp planning service.

Definition at line 177 of file bayesian_grasp_planner_node.cpp.

void bayesian_grasp_planner::BayesianGraspPlannerNode::graspPlanningExecuteCB ( const object_manipulation_msgs::GraspPlanningGoalConstPtr & goal ) [private]

Execute callback for grasp planning server.

Definition at line 194 of file bayesian_grasp_planner_node.cpp.

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