pick_place_action_capability.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_MOVE_GROUP_PICK_PLACE_ACTION_CAPABILITY_
00038 #define MOVEIT_MOVE_GROUP_PICK_PLACE_ACTION_CAPABILITY_
00039 
00040 #include <moveit/move_group/move_group_capability.h>
00041 #include <actionlib/server/simple_action_server.h>
00042 #include <moveit/pick_place/pick_place.h>
00043 #include <moveit_msgs/PickupAction.h>
00044 #include <moveit_msgs/PlaceAction.h>
00045 
00046 namespace move_group
00047 {
00048 
00049 class MoveGroupPickPlaceAction : public MoveGroupCapability
00050 {
00051 public:
00052 
00053   MoveGroupPickPlaceAction();
00054   virtual void initialize();
00055 
00056 private:
00057 
00058   void executePickupCallback(const moveit_msgs::PickupGoalConstPtr& goal);
00059   void executePlaceCallback(const moveit_msgs::PlaceGoalConstPtr& goal);
00060 
00061   void executePickupCallback_PlanOnly(const moveit_msgs::PickupGoalConstPtr& goal, moveit_msgs::PickupResult &action_res);
00062   void executePickupCallback_PlanAndExecute(const moveit_msgs::PickupGoalConstPtr& goal, moveit_msgs::PickupResult &action_res);
00063 
00064   void executePlaceCallback_PlanOnly(const moveit_msgs::PlaceGoalConstPtr& goal, moveit_msgs::PlaceResult &action_res);
00065   void executePlaceCallback_PlanAndExecute(const moveit_msgs::PlaceGoalConstPtr& goal, moveit_msgs::PlaceResult &action_res);
00066 
00067   bool planUsingPickPlace_Pickup(const moveit_msgs::PickupGoal& goal, moveit_msgs::PickupResult *action_res, plan_execution::ExecutableMotionPlan &plan);
00068   bool planUsingPickPlace_Place(const moveit_msgs::PlaceGoal& goal, moveit_msgs::PlaceResult *action_res, plan_execution::ExecutableMotionPlan &plan);
00069 
00070   void preemptPickupCallback();
00071   void preemptPlaceCallback();
00072 
00073   void startPickupLookCallback();
00074   void startPickupExecutionCallback();
00075 
00076   void startPlaceLookCallback();
00077   void startPlaceExecutionCallback();
00078 
00079   void setPickupState(MoveGroupState state);
00080   void setPlaceState(MoveGroupState state);
00081 
00082   void fillGrasps(moveit_msgs::PickupGoal& goal);
00083 
00084   pick_place::PickPlacePtr pick_place_;
00085 
00086   boost::scoped_ptr<actionlib::SimpleActionServer<moveit_msgs::PickupAction> > pickup_action_server_;
00087   moveit_msgs::PickupFeedback pickup_feedback_;
00088 
00089   boost::scoped_ptr<actionlib::SimpleActionServer<moveit_msgs::PlaceAction> > place_action_server_;
00090   moveit_msgs::PlaceFeedback place_feedback_;
00091 
00092   boost::scoped_ptr<moveit_msgs::AttachedCollisionObject> diff_attached_object_;
00093 
00094   MoveGroupState pickup_state_;
00095   MoveGroupState place_state_;
00096 
00097   ros::ServiceClient grasp_planning_service_;
00098 
00099 };
00100 
00101 }
00102 
00103 #endif


manipulation
Author(s): Ioan Sucan , Sachin Chitta , Sachin Chitta
autogenerated on Wed Aug 26 2015 12:44:04