#include <interactive_manipulation_backend.h>

Classes
struct	GraspInfo
Public Member Functions
	InteractiveManipulationBackend ()
	~InteractiveManipulationBackend ()
Private Types
enum	Action { PICKUP, PLACE, MOVE }
Private Member Functions
void	actionCallback (const pr2_object_manipulation_msgs::IMGUIGoalConstPtr &goal)
void	armMotion (int arm_selection_choice, int arm_action_choice, int arm_planner_choice, bool collision, object_manipulation_msgs::ManipulationResult &result)
int	callGhostedGripper (const pr2_object_manipulation_msgs::GetGripperPoseGoal &goal, pr2_object_manipulation_msgs::GetGripperPoseResult &result)
int	callGhostedGripperMove (std::string arm_name, geometry_msgs::PoseStamped &location)
int	callGhostedGripperPickup (std::string arm_name, manipulation_msgs::Grasp &grasp)
bool	checkInterrupts ()
void	collisionReset (int reset_choice, int arm_selection_choice)
bool	getGrasp (manipulation_msgs::Grasp &grasp, std::string arm_name, geometry_msgs::PoseStamped grasp_pose, float gripper_opening)
GraspInfo *	getGraspInfo (std::string arm_name)
void	imageClickCallback (const pr2_object_manipulation_msgs::ImageClickConstPtr &click)
bool	interruptRequested ()
void	lookAtCallback (const geometry_msgs::PointStampedConstPtr &lookatPS)
void	lookAtTable ()
int	modelObject (pr2_object_manipulation_msgs::IMGUIOptions options)
void	openCloseGripper (pr2_object_manipulation_msgs::IMGUIOptions options)
void	pickupFeedbackCallback (const object_manipulation_msgs::PickupFeedbackConstPtr &feedback)
int	pickupObject (const pr2_object_manipulation_msgs::IMGUIOptions &options, manipulation_msgs::GraspableObject object=manipulation_msgs::GraspableObject())
int	placeObject (const pr2_object_manipulation_msgs::IMGUIOptions &options)
int	plannedMove (const pr2_object_manipulation_msgs::IMGUIOptions &options)
bool	processCollisionMapForPickup (const pr2_object_manipulation_msgs::IMGUIOptions &options, object_manipulation_msgs::PickupGoal &goal)
int	runScriptedAction (std::string action_name, std::string group_name, pr2_object_manipulation_msgs::IMGUIOptions options)
void	setStatusLabel (std::string text)
void	testGripperPoseCallback (const pr2_object_manipulation_msgs::TestGripperPoseGoalConstPtr &goal)
void	testGripperPoseForGraspCallback (const pr2_object_manipulation_msgs::TestGripperPoseGoalConstPtr &goal)
void	testGripperPoseForMoveCallback (const pr2_object_manipulation_msgs::TestGripperPoseGoalConstPtr &goal)
void	testGripperPoseForPlaceCallback (const pr2_object_manipulation_msgs::TestGripperPoseGoalConstPtr &goal)
Private Attributes
std::string	action_name_
actionlib::SimpleActionServer < pr2_object_manipulation_msgs::IMGUIAction > *	action_server_
double	cartesian_angle_tol_
double	cartesian_dist_tol_
double	cartesian_overshoot_angle_
double	cartesian_overshoot_dist_
object_manipulator::ServiceWrapper < std_srvs::Empty >	collider_node_reset_srv_
tabletop_collision_map_processing::CollisionMapInterface	collision_map_interface_
object_manipulator::ActionWrapper < pr2_create_object_model::ModelObjectInHandAction >	create_model_client_
Action	current_action_
object_manipulation_msgs::PickupGoal	current_pickup_goal_
object_manipulation_msgs::PlaceGoal	current_place_goal_
object_manipulator::ActionWrapper < pr2_object_manipulation_msgs::GetGripperPoseAction >	get_gripper_pose_client_
GraspInfo	grasp_info_left_
GraspInfo	grasp_info_right_
pr2_wrappers::GripperController	gripper_client_
object_manipulator::IKTesterFast	ik_tester_fast_
std::string	image_click_name_
ros::Subscriber	image_click_sub_
ros::Publisher	in_hand_object_left_pub_
ros::Publisher	in_hand_object_right_pub_
std::string	interactive_manipulation_status_name_
tf::TransformListener	listener_
ros::Subscriber	lookat_sub_
object_manipulator::MechanismInterface	mech_interface_
object_manipulator::ActionWrapper < move_base_msgs::MoveBaseAction >	move_base_client_
sensor_msgs::PointCloud2	object_model_left_
sensor_msgs::PointCloud2	object_model_right_
pr2_object_manipulation_msgs::IMGUIOptions	options_
object_manipulator::ActionWrapper < object_manipulation_msgs::PickupAction >	pickup_client_
boost::mutex	pipeline_mutex_
object_manipulator::ActionWrapper < object_manipulation_msgs::PlaceAction >	place_client_
ros::NodeHandle	priv_nh_
ros::NodeHandle	root_nh_
object_manipulator::ActionWrapper < pr2_object_manipulation_msgs::RunScriptAction >	run_script_client_
ros::Publisher	status_pub_
std::string	test_gripper_pose_action_name_
actionlib::SimpleActionServer < pr2_object_manipulation_msgs::TestGripperPoseAction > *	test_gripper_pose_server_

Detailed Description

Definition at line 76 of file interactive_manipulation_backend.h.

Member Enumeration Documentation

enum pr2_interactive_manipulation::InteractiveManipulationBackend::Action [private]

Enumerator:

PICKUP
PLACE
MOVE

Definition at line 211 of file interactive_manipulation_backend.h.

Constructor & Destructor Documentation

pr2_interactive_manipulation::InteractiveManipulationBackend::InteractiveManipulationBackend ( )

Definition at line 84 of file interactive_manipulation_backend.cpp.

pr2_interactive_manipulation::InteractiveManipulationBackend::~InteractiveManipulationBackend ( )

Definition at line 131 of file interactive_manipulation_backend.cpp.

Member Function Documentation

void pr2_interactive_manipulation::InteractiveManipulationBackend::actionCallback ( const pr2_object_manipulation_msgs::IMGUIGoalConstPtr & goal ) [private]

Definition at line 137 of file interactive_manipulation_backend.cpp.

void pr2_interactive_manipulation::InteractiveManipulationBackend::armMotion	(	int	arm_selection_choice,
		int	arm_action_choice,
		int	arm_planner_choice,
		bool	collision,
		object_manipulation_msgs::ManipulationResult &	result
	)		`[private]`

Definition at line 903 of file interactive_manipulation_backend.cpp.

int pr2_interactive_manipulation::InteractiveManipulationBackend::callGhostedGripper	(	const pr2_object_manipulation_msgs::GetGripperPoseGoal &	goal,
		pr2_object_manipulation_msgs::GetGripperPoseResult &	result
	)		`[private]`

Definition at line 1202 of file interactive_manipulation_backend.cpp.

int pr2_interactive_manipulation::InteractiveManipulationBackend::callGhostedGripperMove	(	std::string	arm_name,
		geometry_msgs::PoseStamped &	location
	)		`[private]`

Definition at line 1232 of file interactive_manipulation_backend.cpp.

int pr2_interactive_manipulation::InteractiveManipulationBackend::callGhostedGripperPickup	(	std::string	arm_name,
		manipulation_msgs::Grasp &	grasp
	)		`[private]`

Definition at line 1216 of file interactive_manipulation_backend.cpp.

bool pr2_interactive_manipulation::InteractiveManipulationBackend::checkInterrupts ( ) [private]

Definition at line 264 of file interactive_manipulation_backend.cpp.

void pr2_interactive_manipulation::InteractiveManipulationBackend::collisionReset	(	int	reset_choice,
		int	arm_selection_choice
	)		`[private]`

Definition at line 845 of file interactive_manipulation_backend.cpp.

bool pr2_interactive_manipulation::InteractiveManipulationBackend::getGrasp	(	manipulation_msgs::Grasp &	grasp,
		std::string	arm_name,
		geometry_msgs::PoseStamped	grasp_pose,
		float	gripper_opening
	)		`[private]`

Definition at line 215 of file interactive_manipulation_backend.cpp.

GraspInfo* pr2_interactive_manipulation::InteractiveManipulationBackend::getGraspInfo ( std::string arm_name ) [inline, private]

Definition at line 136 of file interactive_manipulation_backend.h.

void pr2_interactive_manipulation::InteractiveManipulationBackend::imageClickCallback ( const pr2_object_manipulation_msgs::ImageClickConstPtr & click ) [private]

Definition at line 1246 of file interactive_manipulation_backend.cpp.

bool pr2_interactive_manipulation::InteractiveManipulationBackend::interruptRequested ( ) [private]

Definition at line 259 of file interactive_manipulation_backend.cpp.

void pr2_interactive_manipulation::InteractiveManipulationBackend::lookAtCallback ( const geometry_msgs::PointStampedConstPtr & lookatPS ) [private]

Definition at line 1290 of file interactive_manipulation_backend.cpp.

void pr2_interactive_manipulation::InteractiveManipulationBackend::lookAtTable ( ) [private]

Definition at line 1268 of file interactive_manipulation_backend.cpp.

int pr2_interactive_manipulation::InteractiveManipulationBackend::modelObject ( pr2_object_manipulation_msgs::IMGUIOptions options ) [private]

Definition at line 1070 of file interactive_manipulation_backend.cpp.

void pr2_interactive_manipulation::InteractiveManipulationBackend::openCloseGripper ( pr2_object_manipulation_msgs::IMGUIOptions options ) [private]

Definition at line 1049 of file interactive_manipulation_backend.cpp.

void pr2_interactive_manipulation::InteractiveManipulationBackend::pickupFeedbackCallback ( const object_manipulation_msgs::PickupFeedbackConstPtr & feedback ) [private]

Definition at line 740 of file interactive_manipulation_backend.cpp.

int pr2_interactive_manipulation::InteractiveManipulationBackend::pickupObject	(	const pr2_object_manipulation_msgs::IMGUIOptions &	options,
		manipulation_msgs::GraspableObject	object = `manipulation_msgs::GraspableObject()`
	)		`[private]`

Definition at line 634 of file interactive_manipulation_backend.cpp.

int pr2_interactive_manipulation::InteractiveManipulationBackend::placeObject ( const pr2_object_manipulation_msgs::IMGUIOptions & options ) [private]

Definition at line 775 of file interactive_manipulation_backend.cpp.

int pr2_interactive_manipulation::InteractiveManipulationBackend::plannedMove ( const pr2_object_manipulation_msgs::IMGUIOptions & options ) [private]

Definition at line 583 of file interactive_manipulation_backend.cpp.

bool pr2_interactive_manipulation::InteractiveManipulationBackend::processCollisionMapForPickup	(	const pr2_object_manipulation_msgs::IMGUIOptions &	options,
		object_manipulation_msgs::PickupGoal &	goal
	)		`[private]`

Definition at line 305 of file interactive_manipulation_backend.cpp.

int pr2_interactive_manipulation::InteractiveManipulationBackend::runScriptedAction	(	std::string	action_name,
		std::string	group_name,
		pr2_object_manipulation_msgs::IMGUIOptions	options
	)		`[private]`

Definition at line 1181 of file interactive_manipulation_backend.cpp.

void pr2_interactive_manipulation::InteractiveManipulationBackend::setStatusLabel ( std::string text ) [private]

Definition at line 245 of file interactive_manipulation_backend.cpp.

void pr2_interactive_manipulation::InteractiveManipulationBackend::testGripperPoseCallback ( const pr2_object_manipulation_msgs::TestGripperPoseGoalConstPtr & goal ) [private]

Definition at line 377 of file interactive_manipulation_backend.cpp.

void pr2_interactive_manipulation::InteractiveManipulationBackend::testGripperPoseForGraspCallback ( const pr2_object_manipulation_msgs::TestGripperPoseGoalConstPtr & goal ) [private]

Definition at line 388 of file interactive_manipulation_backend.cpp.

void pr2_interactive_manipulation::InteractiveManipulationBackend::testGripperPoseForMoveCallback ( const pr2_object_manipulation_msgs::TestGripperPoseGoalConstPtr & goal ) [private]

Definition at line 512 of file interactive_manipulation_backend.cpp.

void pr2_interactive_manipulation::InteractiveManipulationBackend::testGripperPoseForPlaceCallback ( const pr2_object_manipulation_msgs::TestGripperPoseGoalConstPtr & goal ) [private]

Definition at line 456 of file interactive_manipulation_backend.cpp.