moveit_simple_grasps::SimpleGrasps Class Reference

#include <simple_grasps.h>

List of all members.

Public Member Functions
MOVEIT_DEPRECATED bool	generateAllGrasps (const geometry_msgs::Pose &object_pose, const GraspData &grasp_data, std::vector< moveit_msgs::Grasp > &possible_grasps)
	Moved to generateBlockGrasps.
bool	generateAxisGrasps (const geometry_msgs::Pose &object_pose, grasp_axis_t axis, grasp_direction_t direction, grasp_rotation_t rotation, double hand_roll, const GraspData &grasp_data, std::vector< moveit_msgs::Grasp > &possible_grasps)
	Create grasp positions in one axis around a single pose Note: to visualize these grasps use moveit_visual_tools.publishAnimatedGrasps() function or moveit_visual_tools.publishIKSolutions() with the resulting data.
bool	generateBlockGrasps (const geometry_msgs::Pose &object_pose, const GraspData &grasp_data, std::vector< moveit_msgs::Grasp > &possible_grasps)
	Create all possible grasp positions for a block.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	SimpleGrasps (moveit_visual_tools::VisualToolsPtr rviz_tools, bool verbose=false)
	Constructor.
	~SimpleGrasps ()
	Destructor.
Static Public Member Functions
static geometry_msgs::PoseStamped	getPreGraspPose (const moveit_msgs::Grasp &grasp, const std::string &ee_parent_link)
	Using an input grasp description, get the pregrasp pose.
static MOVEIT_DEPRECATED void	printObjectGraspData (const GraspData &data)
	Print debug info DEPRECATRED: moved to grasp_data.cpp.
Private Attributes
Eigen::Affine3d	object_global_transform_
bool	verbose_
moveit_visual_tools::VisualToolsPtr	visual_tools_

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Detailed Description

Definition at line 79 of file simple_grasps.h.

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Constructor & Destructor Documentation

moveit_simple_grasps::SimpleGrasps::SimpleGrasps	(	moveit_visual_tools::VisualToolsPtr	rviz_tools,
		bool	verbose = false
	)

Constructor.

Definition at line 41 of file simple_grasps.cpp.

moveit_simple_grasps::SimpleGrasps::~SimpleGrasps

(

)

Destructor.

Definition at line 49 of file simple_grasps.cpp.

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Member Function Documentation

MOVEIT_DEPRECATED bool moveit_simple_grasps::SimpleGrasps::generateAllGrasps	(	const geometry_msgs::Pose &	object_pose,
		const GraspData &	grasp_data,
		std::vector< moveit_msgs::Grasp > &	possible_grasps
	)		[inline]

Moved to generateBlockGrasps.

Definition at line 108 of file simple_grasps.h.

bool moveit_simple_grasps::SimpleGrasps::generateAxisGrasps	(	const geometry_msgs::Pose &	object_pose,
		grasp_axis_t	axis,
		grasp_direction_t	direction,
		grasp_rotation_t	rotation,
		double	hand_roll,
		const GraspData &	grasp_data,
		std::vector< moveit_msgs::Grasp > &	possible_grasps
	)

Create grasp positions in one axis around a single pose Note: to visualize these grasps use moveit_visual_tools.publishAnimatedGrasps() function or moveit_visual_tools.publishIKSolutions() with the resulting data.

Parameters:

pose	- center point of object to be grasped
axis	- axis relative to object pose to rotate generated grasps around
direction	- a parallel gripper is typically symetric such that it can perform the same grasp 180 degree around. this option allows to generate a flipped grasp pose
rotation	- amount to rotate around the object - 180 or 360 degrees
hand_roll	- amount in radians to roll wrist with respect to center point of object during grasp. use 0 by default
grasp_data	- parameters specific to the robot geometry
possible_grasps	- the output solution vector of possible grasps to attempt. ok if pre-populated

Returns:

true if successful

Definition at line 68 of file simple_grasps.cpp.

bool moveit_simple_grasps::SimpleGrasps::generateBlockGrasps	(	const geometry_msgs::Pose &	object_pose,
		const GraspData &	grasp_data,
		std::vector< moveit_msgs::Grasp > &	possible_grasps
	)

Create all possible grasp positions for a block.

Parameters:

pose	of block, where vector arrow is parallel to table plane
data	describing end effector
resulting	generated possible grasps

Returns:

true if successful

Definition at line 54 of file simple_grasps.cpp.

geometry_msgs::PoseStamped moveit_simple_grasps::SimpleGrasps::getPreGraspPose	(	const moveit_msgs::Grasp &	grasp,
		const std::string &	ee_parent_link
	)		[static]

Using an input grasp description, get the pregrasp pose.

Parameters:

grasp	description
name	of parent link

Returns:

pregrasp pose

Definition at line 281 of file simple_grasps.cpp.

static MOVEIT_DEPRECATED void moveit_simple_grasps::SimpleGrasps::printObjectGraspData

(

const GraspData &

data

)

[inline, static]

Print debug info DEPRECATRED: moved to grasp_data.cpp.

Definition at line 161 of file simple_grasps.h.

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Member Data Documentation

Eigen::Affine3d moveit_simple_grasps::SimpleGrasps::object_global_transform_ [private]

Definition at line 87 of file simple_grasps.h.

bool moveit_simple_grasps::SimpleGrasps::verbose_ [private]

Definition at line 90 of file simple_grasps.h.

moveit_visual_tools::VisualToolsPtr moveit_simple_grasps::SimpleGrasps::visual_tools_ [private]

Definition at line 84 of file simple_grasps.h.

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The documentation for this class was generated from the following files:

• simple_grasps.h
• simple_grasps.cpp