moveit_simple_grasps::GraspFilter Class Reference

#include <grasp_filter.h>

List of all members.

Public Member Functions
bool	chooseBestGrasp (const std::vector< moveit_msgs::Grasp > &possible_grasps, moveit_msgs::Grasp &chosen)
bool	filterGrasps (std::vector< moveit_msgs::Grasp > &possible_grasps, std::vector< trajectory_msgs::JointTrajectoryPoint > &ik_solutions, bool filter_pregrasp, const std::string &ee_parent_link, const std::string &planning_group)
	Choose the 1st grasp that is kinematically feasible.
bool	filterNthGrasp (std::vector< moveit_msgs::Grasp > &possible_grasps, int n)
	GraspFilter (robot_state::RobotState robot_state, moveit_visual_tools::MoveItVisualToolsPtr &visual_tools)
	~GraspFilter ()
Private Member Functions
void	filterGraspThread (IkThreadStruct ik_thread_struct)
	Thread for checking part of the possible grasps list.
Private Attributes
std::map< std::string, std::vector < kinematics::KinematicsBaseConstPtr > >	kin_solvers_
robot_state::RobotState	robot_state_
bool	verbose_
moveit_visual_tools::MoveItVisualToolsPtr	visual_tools_

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Detailed Description

Definition at line 112 of file grasp_filter.h.

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Constructor & Destructor Documentation

moveit_simple_grasps::GraspFilter::GraspFilter	(	robot_state::RobotState	robot_state,
		moveit_visual_tools::MoveItVisualToolsPtr &	visual_tools
	)

Definition at line 45 of file grasp_filter.cpp.

moveit_simple_grasps::GraspFilter::~GraspFilter

(

)

Definition at line 54 of file grasp_filter.cpp.

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Member Function Documentation

bool moveit_simple_grasps::GraspFilter::chooseBestGrasp	(	const std::vector< moveit_msgs::Grasp > &	possible_grasps,
		moveit_msgs::Grasp &	chosen
	)

Definition at line 58 of file grasp_filter.cpp.

bool moveit_simple_grasps::GraspFilter::filterGrasps	(	std::vector< moveit_msgs::Grasp > &	possible_grasps,
		std::vector< trajectory_msgs::JointTrajectoryPoint > &	ik_solutions,
		bool	filter_pregrasp,
		const std::string &	ee_parent_link,
		const std::string &	planning_group
	)

Choose the 1st grasp that is kinematically feasible.

Parameters:

\param
whether	to also check ik feasibility for the pregrasp position

Returns:

true on success

Definition at line 71 of file grasp_filter.cpp.

void moveit_simple_grasps::GraspFilter::filterGraspThread

(

IkThreadStruct

ik_thread_struct

)

[private]

Thread for checking part of the possible grasps list.

Parameters:

Definition at line 192 of file grasp_filter.cpp.

bool moveit_simple_grasps::GraspFilter::filterNthGrasp	(	std::vector< moveit_msgs::Grasp > &	possible_grasps,
		int	n
	)

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Member Data Documentation

std::map<std::string, std::vector<kinematics::KinematicsBaseConstPtr> > moveit_simple_grasps::GraspFilter::kin_solvers_ [private]

Definition at line 119 of file grasp_filter.h.

robot_state::RobotState moveit_simple_grasps::GraspFilter::robot_state_ [private]

Definition at line 116 of file grasp_filter.h.

bool moveit_simple_grasps::GraspFilter::verbose_ [private]

Definition at line 124 of file grasp_filter.h.

moveit_visual_tools::MoveItVisualToolsPtr moveit_simple_grasps::GraspFilter::visual_tools_ [private]

Definition at line 122 of file grasp_filter.h.

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

• grasp_filter.h
• grasp_filter.cpp