grasp_data.h
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00001 /*
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00035 
00036 /* Authors: Bence Magyar, Dave Coleman
00037    Description: Data class used by the grasp generator.
00038 */
00039 
00040 #ifndef MOVEIT_SIMPLE_GRASPS__GRASP_DATA_H_
00041 #define MOVEIT_SIMPLE_GRASPS__GRASP_DATA_H_
00042 
00043 // Ros
00044 #include <ros/node_handle.h>
00045 
00046 // Msgs
00047 #include <geometry_msgs/Pose.h>
00048 #include <trajectory_msgs/JointTrajectory.h>
00049 #include <moveit/robot_state/robot_state.h>
00050 
00051 namespace moveit_simple_grasps
00052 {
00053 
00054 class GraspData
00055 {
00056 public:
00057   geometry_msgs::Pose grasp_pose_to_eef_pose_; // Convert generic grasp pose to this end effector's frame of reference
00058   trajectory_msgs::JointTrajectory pre_grasp_posture_; // when the end effector is in "open" position
00059   trajectory_msgs::JointTrajectory grasp_posture_; // when the end effector is in "close" position
00060   std::string base_link_; // name of global frame with z pointing up
00061   std::string ee_parent_link_; // the last link in the kinematic chain before the end effector, e.g. "/gripper_roll_link"
00062   std::string ee_group_; // the end effector name
00063   double grasp_depth_; // distance from center point of object to end effector
00064   int angle_resolution_; // generate grasps at PI/angle_resolution increments
00065   double approach_retreat_desired_dist_; // how far back from the grasp position the pregrasp phase should be
00066   double approach_retreat_min_dist_; // how far back from the grasp position the pregrasp phase should be at minimum
00067   double object_size_; // for visualization
00068 
00069 public:
00070 
00074   GraspData();
00075 
00082   bool loadRobotGraspData(const ros::NodeHandle& nh, const std::string& end_effector);
00083 
00089   bool setRobotStatePreGrasp( robot_state::RobotStatePtr &robot_state );
00090 
00096   bool setRobotStateGrasp( robot_state::RobotStatePtr &robot_state );
00097 
00104   bool setRobotState( robot_state::RobotStatePtr &robot_state, const trajectory_msgs::JointTrajectory &posture );
00105 
00109   void print();
00110 };
00111 
00112 } // namespace
00113 
00114 #endif


moveit_simple_grasps
Author(s): Dave Coleman
autogenerated on Thu Jun 6 2019 20:55:20