Uses the GraspIt! services to add and load robot and objects and do the planning. This class can be used as a helper. More...

Public Member Functions
int	addObject (const std::string &modelName, const std::string filename, bool objectGraspable)
int	addRobot (const std::string &modelName, const std::string filename, const std::vector< std::string > &jointNames)
	EigenGraspPlannerClient ()
bool	isOK ()
int	loadModel (const int modelID, bool clearWorld, const geometry_msgs::Pose &modelPose)
int	plan (const std::string robotModelName, const int objectID, const geometry_msgs::Pose *newObjectPose, const std::string &resultsOutputDirectory, std::vector< moveit_msgs::Grasp > &results)
	~EigenGraspPlannerClient ()
Private Member Functions
void	init ()
Private Attributes
ros::ServiceClient	add_to_db_client
std::string	addToDBService
ros::ServiceClient	eg_planner_client
std::string	egPlanningService
bool	initialized
ros::ServiceClient	load_model_client
std::string	loadModelService
ros::NodeHandle	node
std::string	saveWorldService

Detailed Description

Uses the GraspIt! services to add and load robot and objects and do the planning. This class can be used as a helper.

Reads parameters from ROS parameter service as specified and documented in ``rosed grasp_planning_graspit_ros EigenGraspPlannerClient.yaml``

Definition at line 23 of file EigenGraspPlannerClient.h.

Constructor & Destructor Documentation

EigenGraspPlannerClient::EigenGraspPlannerClient ( )

EigenGraspPlannerClient::~EigenGraspPlannerClient ( )

int EigenGraspPlannerClient::addObject	(	const std::string &	modelName,
		const std::string	filename,
		bool	objectGraspable
	)

Adds an object to the database

Parameters:

filename	the file with the GraspIt! object definition
objectGraspable	set to true is object is graspable

Return values:

-1	could not call service
-2	could not add object to database
-3	client not initialized. Have the ROS parameters been set for the service names?

int EigenGraspPlannerClient::addRobot	(	const std::string &	modelName,
		const std::string	filename,
		const std::vector< std::string > &	jointNames
	)

Adds a robot to the database

Parameters:

filename	the file with the GraspIt! robot definition
jointNames	the names of the URDF joint names in the order they are specified in the graspit file.

Return values:

-1	could not call service
-2	could not add robot to database
-3	client not initialized. Have the ROS parameters been set for the service names?

void EigenGraspPlannerClient::init ( ) [private]

bool EigenGraspPlannerClient::isOK ( )

int EigenGraspPlannerClient::loadModel	(	const int	modelID,
		bool	clearWorld,
		const geometry_msgs::Pose &	modelPose
	)

Loads a model from the database to the GraspIt! world

Parameters:

modelID	ID as returned from addRobot() or addObject()
clearWorld	clear other models before loading this one
modelPose	the pose where to load the model.

Return values:

0	success
-1	failed to call service
-2	could not load model, is it not in the database?
-3	client not initialized. Have the ROS parameters been set for the service names?

int EigenGraspPlannerClient::plan	(	const std::string	robotModelName,
		const int	objectID,
		const geometry_msgs::Pose *	newObjectPose,
		const std::string &	resultsOutputDirectory,
		std::vector< moveit_msgs::Grasp > &	results
	)

Does the planning for the given robotModelName and objectID. Both models have to be loaded in the GraspIt! world (by function loadModel()).

Parameters:

objectID	ID as returned from addRobot() or addObject()
newObjectPose	this is optional and can be set to NULL to disable. Set a different pose to put the object at in the current graspit world. Has to be in the global frame of the graspit world. If NULL, the current pose in the GraspIt! pose will be used.
resultsOutputDirectory	the directory where the Grasp messages will be saved. This does not need to be the same directory at which the GraspIt! service stores its grasp results. Set to empty string if results should not be saved to file but only returned in results

Return values:

0	planning successfully done, results written to output directory
-1	could not create results directory (only tried if resultsOutputDirectory non-empty)
-2	could not call planning service
-3	planning failed
-4	client not initialized. Have the ROS parameters been set for the service names?