#include <grasp_tester_fast.h>
Public Member Functions | |
void | getGroupJoints (const std::string &group_name, std::vector< std::string > &group_links) |
void | getGroupLinks (const std::string &group_name, std::vector< std::string > &group_links) |
GraspTesterFast (planning_environment::CollisionModels *cm=NULL, const std::string &plugin_name="pr2_arm_kinematics/PR2ArmKinematicsPlugin") | |
Also adds a grasp marker at the pre-grasp location. | |
void | setPlanningSceneState (planning_models::KinematicState *state) |
virtual void | testGrasps (const object_manipulation_msgs::PickupGoal &pickup_goal, const std::vector< manipulation_msgs::Grasp > &grasps, std::vector< GraspExecutionInfo > &execution_info, bool return_on_first_hit) |
Tests a set of grasps and provides their execution info. | |
~GraspTesterFast () | |
Public Attributes | |
pluginlib::ClassLoader < kinematics::KinematicsBase > | kinematics_loader_ |
Protected Member Functions | |
planning_environment::CollisionModels * | getCollisionModels () |
bool | getInterpolatedIK (const std::string &arm_name, const tf::Transform &first_pose, const tf::Vector3 &direction, const double &distance, const std::vector< double > &ik_solution, const bool &reverse, const bool &premultiply, trajectory_msgs::JointTrajectory &traj) |
planning_models::KinematicState * | getPlanningSceneState () |
virtual std::vector < arm_navigation_msgs::LinkPadding > | linkPaddingForGrasp (const object_manipulation_msgs::PickupGoal &pickup_goal) |
Dynamic link padding to be used for grasp operation. | |
virtual void | testGrasp (const object_manipulation_msgs::PickupGoal &pickup_goal, const manipulation_msgs::Grasp &grasp, GraspExecutionInfo &execution_info) |
Tests a single grasp. | |
Protected Attributes | |
planning_environment::CollisionModels * | cm_ |
double | consistent_angle_ |
std::map< std::string, arm_kinematics_constraint_aware::ArmKinematicsSolverConstraintAware * > | ik_solver_map_ |
unsigned int | num_points_ |
unsigned int | redundancy_ |
planning_models::KinematicState * | state_ |
ros::Publisher | vis_marker_array_publisher_ |
ros::Publisher | vis_marker_publisher_ |
Definition at line 74 of file grasp_tester_fast.h.
object_manipulator::GraspTesterFast::GraspTesterFast | ( | planning_environment::CollisionModels * | cm = NULL , |
const std::string & | plugin_name = "pr2_arm_kinematics/PR2ArmKinematicsPlugin" |
||
) |
Also adds a grasp marker at the pre-grasp location.
Definition at line 137 of file grasp_tester_fast.cpp.
Definition at line 177 of file grasp_tester_fast.cpp.
planning_environment::CollisionModels * object_manipulator::GraspTesterFast::getCollisionModels | ( | void | ) | [protected] |
Definition at line 186 of file grasp_tester_fast.cpp.
void object_manipulator::GraspTesterFast::getGroupJoints | ( | const std::string & | group_name, |
std::vector< std::string > & | group_links | ||
) |
Definition at line 230 of file grasp_tester_fast.cpp.
void object_manipulator::GraspTesterFast::getGroupLinks | ( | const std::string & | group_name, |
std::vector< std::string > & | group_links | ||
) |
Definition at line 220 of file grasp_tester_fast.cpp.
bool object_manipulator::GraspTesterFast::getInterpolatedIK | ( | const std::string & | arm_name, |
const tf::Transform & | first_pose, | ||
const tf::Vector3 & | direction, | ||
const double & | distance, | ||
const std::vector< double > & | ik_solution, | ||
const bool & | reverse, | ||
const bool & | premultiply, | ||
trajectory_msgs::JointTrajectory & | traj | ||
) | [protected] |
Definition at line 240 of file grasp_tester_fast.cpp.
planning_models::KinematicState * object_manipulator::GraspTesterFast::getPlanningSceneState | ( | ) | [protected] |
Definition at line 194 of file grasp_tester_fast.cpp.
std::vector< arm_navigation_msgs::LinkPadding > object_manipulator::GraspTesterFast::linkPaddingForGrasp | ( | const object_manipulation_msgs::PickupGoal & | pickup_goal | ) | [protected, virtual] |
Dynamic link padding to be used for grasp operation.
Zero padding on fingertip links
Definition at line 212 of file grasp_tester_fast.cpp.
void object_manipulator::GraspTesterFast::setPlanningSceneState | ( | planning_models::KinematicState * | state | ) | [inline] |
Definition at line 122 of file grasp_tester_fast.h.
void object_manipulator::GraspTesterFast::testGrasp | ( | const object_manipulation_msgs::PickupGoal & | pickup_goal, |
const manipulation_msgs::Grasp & | grasp, | ||
GraspExecutionInfo & | execution_info | ||
) | [protected, virtual] |
Tests a single grasp.
Implements object_manipulator::GraspTester.
Definition at line 279 of file grasp_tester_fast.cpp.
void object_manipulator::GraspTesterFast::testGrasps | ( | const object_manipulation_msgs::PickupGoal & | pickup_goal, |
const std::vector< 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 from object_manipulator::GraspTester.
Definition at line 283 of file grasp_tester_fast.cpp.
Definition at line 109 of file grasp_tester_fast.h.
double object_manipulator::GraspTesterFast::consistent_angle_ [protected] |
Definition at line 99 of file grasp_tester_fast.h.
std::map<std::string, arm_kinematics_constraint_aware::ArmKinematicsSolverConstraintAware*> object_manipulator::GraspTesterFast::ik_solver_map_ [protected] |
Definition at line 96 of file grasp_tester_fast.h.
pluginlib::ClassLoader<kinematics::KinematicsBase> object_manipulator::GraspTesterFast::kinematics_loader_ |
Definition at line 114 of file grasp_tester_fast.h.
unsigned int object_manipulator::GraspTesterFast::num_points_ [protected] |
Definition at line 100 of file grasp_tester_fast.h.
unsigned int object_manipulator::GraspTesterFast::redundancy_ [protected] |
Definition at line 101 of file grasp_tester_fast.h.
Definition at line 110 of file grasp_tester_fast.h.
Definition at line 103 of file grasp_tester_fast.h.
Definition at line 104 of file grasp_tester_fast.h.