manipulation_utils Namespace Reference

Functions
void	createBoundingSphereCollisionModel (const sensor_msgs::PointCloud cluster, double radius, arm_navigation_msgs::CollisionObject &obj)
void	generateCandidateGrasps (const object_manipulation_msgs::Grasp firstGrasp, tf::Vector3 rotationAxis, int numCandidates, std::vector< object_manipulation_msgs::Grasp > &graspCandidates)
void	generateGraspPoses (const geometry_msgs::Pose &pose, tf::Vector3 rotationAxis, int numCandidates, std::vector< geometry_msgs::Pose > &poses)
void	rectifyPoseZDirection (const geometry_msgs::Pose &actual_pose, const geometry_msgs::Pose &rectification_pose, geometry_msgs::Pose &rectified_pose)

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Function Documentation

void manipulation_utils::createBoundingSphereCollisionModel	(	const sensor_msgs::PointCloud	cluster,
		double	radius,
		arm_navigation_msgs::CollisionObject &	obj
	)

Definition at line 65 of file Utilities.cpp.

void manipulation_utils::generateCandidateGrasps	(	const object_manipulation_msgs::Grasp	firstGrasp,
		tf::Vector3	rotationAxis,
		int	numCandidates,
		std::vector< object_manipulation_msgs::Grasp > &	graspCandidates
	)

Definition at line 50 of file Utilities.cpp.

void manipulation_utils::generateGraspPoses	(	const geometry_msgs::Pose &	pose,
		tf::Vector3	rotationAxis,
		int	numCandidates,
		std::vector< geometry_msgs::Pose > &	poses
	)

Definition at line 27 of file Utilities.cpp.

void manipulation_utils::rectifyPoseZDirection	(	const geometry_msgs::Pose &	actual_pose,
		const geometry_msgs::Pose &	rectification_pose,
		geometry_msgs::Pose &	rectified_pose
	)

Definition at line 94 of file Utilities.cpp.