#include <common_actions.h>

Public Member Functions
	CommonActions ()
	Constructor.
Private Member Functions
void	executeArmAction (const rail_manipulation_msgs::ArmGoalConstPtr &goal)
	Move arm to a defined position with obstacle avoidance.
void	executePickup (const rail_manipulation_msgs::PickupGoalConstPtr &goal)
	Perform a pickup action.
void	executeStore (const rail_manipulation_msgs::StoreGoalConstPtr &goal)
	Perform a store action.
void	executeWipeSurface (const carl_moveit::WipeSurfaceGoalConstPtr &goal)
bool	isArmRetracted (const std::vector< float > &retractPos)
	determine if the arm is currently retracted in a given retracted position
void	liftArm (const rail_manipulation_msgs::LiftGoalConstPtr &goal)
	Raise the hand vertically by 10 cm.
Private Attributes
ros::Publisher	angularCmdPublisher
actionlib::SimpleActionServer < rail_manipulation_msgs::ArmAction >	armServer
ros::ServiceClient	attachClosestObjectClient
ros::ServiceClient	cartesianPathClient
std::vector< float >	defaultRetractPosition
ros::ServiceClient	detachObjectsClient
ros::ServiceClient	eraseTrajectoriesClient
actionlib::SimpleActionClient < rail_manipulation_msgs::GripperAction >	gripperClient
std::vector< float >	homePosition
ros::ServiceClient	jacoPosClient
actionlib::SimpleActionClient < rail_manipulation_msgs::LiftAction >	liftClient
actionlib::SimpleActionServer < rail_manipulation_msgs::LiftAction >	liftServer
actionlib::SimpleActionClient < rail_manipulation_msgs::MoveToJointPoseAction >	moveToJointPoseClient
actionlib::SimpleActionClient < rail_manipulation_msgs::MoveToPoseAction >	moveToPoseClient
ros::NodeHandle	n
actionlib::SimpleActionServer < rail_manipulation_msgs::PickupAction >	pickupServer
actionlib::SimpleActionServer < rail_manipulation_msgs::StoreAction >	storeServer
tf::TransformBroadcaster	tfBroadcaster
tf::TransformListener	tfListener
actionlib::SimpleActionServer < carl_moveit::WipeSurfaceAction >	wipeSurfaceServer

Detailed Description

Definition at line 26 of file common_actions.h.

Constructor & Destructor Documentation

CommonActions::CommonActions ( )

Constructor.

Definition at line 5 of file common_actions.cpp.

Member Function Documentation

void CommonActions::executeArmAction ( const rail_manipulation_msgs::ArmGoalConstPtr & goal ) [private]

Move arm to a defined position with obstacle avoidance.

Action server to execute pre-defined arm actions, such as moving to the ready (JACO home) position, or moving to a retracted position.

Parameters:

goal	Specification of the arm action to be executed.

Definition at line 283 of file common_actions.cpp.

void CommonActions::executePickup ( const rail_manipulation_msgs::PickupGoalConstPtr & goal ) [private]

Perform a pickup action.

A pickup action with CARL consists of sequentially executing the following actions: move to approach angle, open gripper, move along approach angle to the grasp pose, close gripper, optionally lift the object, and optionally verify that it is in-hand.

Parameters:

goal	Grasp pose with which to execute the pickup

Definition at line 49 of file common_actions.cpp.

void CommonActions::executeStore ( const rail_manipulation_msgs::StoreGoalConstPtr & goal ) [private]

Perform a store action.

A store action with CARL consists of moving the end effector above the storage location on CARL's platform, lowering the end effector, opening the gripper to release the object, and raising the end effector.

Parameters:

goal	Empty store goal

Definition at line 174 of file common_actions.cpp.

void CommonActions::executeWipeSurface ( const carl_moveit::WipeSurfaceGoalConstPtr & goal ) [private]

Definition at line 451 of file common_actions.cpp.

bool CommonActions::isArmRetracted ( const std::vector< float > & retractPos ) [private]

determine if the arm is currently retracted in a given retracted position

Parameters:

retractPos vector of joint states the make up a retracted position

Returns:: true if the arm is retracted, false otherwise

Definition at line 562 of file common_actions.cpp.

void CommonActions::liftArm ( const rail_manipulation_msgs::LiftGoalConstPtr & goal ) [private]

Raise the hand vertically by 10 cm.

Parameters:

goal	empty goal

Definition at line 530 of file common_actions.cpp.

Member Data Documentation

ros::Publisher CommonActions::angularCmdPublisher [private]

Definition at line 38 of file common_actions.h.

actionlib::SimpleActionServer<rail_manipulation_msgs::ArmAction> CommonActions::armServer [private]

Definition at line 51 of file common_actions.h.

ros::ServiceClient CommonActions::attachClosestObjectClient [private]

Definition at line 43 of file common_actions.h.

ros::ServiceClient CommonActions::cartesianPathClient [private]

Definition at line 41 of file common_actions.h.

std::vector<float> CommonActions::defaultRetractPosition [private]

Definition at line 60 of file common_actions.h.

ros::ServiceClient CommonActions::detachObjectsClient [private]

Definition at line 44 of file common_actions.h.

ros::ServiceClient CommonActions::eraseTrajectoriesClient [private]

Definition at line 40 of file common_actions.h.

actionlib::SimpleActionClient<rail_manipulation_msgs::GripperAction> CommonActions::gripperClient [private]

Definition at line 48 of file common_actions.h.

std::vector<float> CommonActions::homePosition [private]

Definition at line 59 of file common_actions.h.

ros::ServiceClient CommonActions::jacoPosClient [private]

Definition at line 42 of file common_actions.h.

actionlib::SimpleActionClient<rail_manipulation_msgs::LiftAction> CommonActions::liftClient [private]

Definition at line 49 of file common_actions.h.

actionlib::SimpleActionServer<rail_manipulation_msgs::LiftAction> CommonActions::liftServer [private]

Definition at line 50 of file common_actions.h.

actionlib::SimpleActionClient<rail_manipulation_msgs::MoveToJointPoseAction> CommonActions::moveToJointPoseClient [private]

Definition at line 46 of file common_actions.h.

actionlib::SimpleActionClient<rail_manipulation_msgs::MoveToPoseAction> CommonActions::moveToPoseClient [private]

Definition at line 47 of file common_actions.h.

ros::NodeHandle CommonActions::n [private]

Definition at line 37 of file common_actions.h.

actionlib::SimpleActionServer<rail_manipulation_msgs::PickupAction> CommonActions::pickupServer [private]

Definition at line 52 of file common_actions.h.

actionlib::SimpleActionServer<rail_manipulation_msgs::StoreAction> CommonActions::storeServer [private]

Definition at line 53 of file common_actions.h.

tf::TransformBroadcaster CommonActions::tfBroadcaster [private]

Definition at line 56 of file common_actions.h.

tf::TransformListener CommonActions::tfListener [private]

Definition at line 57 of file common_actions.h.

actionlib::SimpleActionServer<carl_moveit::WipeSurfaceAction> CommonActions::wipeSurfaceServer [private]

Definition at line 54 of file common_actions.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation