turtlebot_arm_block_manipulation::PickAndPlaceServer Class Reference

List of all members.

Public Member Functions
float	fRand (float min, float max)
void	goalCB ()
bool	moveArmTo (const std::string &target)
bool	moveArmTo (const geometry_msgs::Pose &target)
void	pickAndPlace (const geometry_msgs::Pose &start_pose, const geometry_msgs::Pose &end_pose)
	PickAndPlaceServer (const std::string name)
void	preemptCB ()
void	sendGoalFromTopic (const geometry_msgs::PoseArrayConstPtr &msg)
bool	setGripper (float opening)
Private Attributes
std::string	action_name_
moveit::planning_interface::MoveGroup	arm_
std::string	arm_link
actionlib::SimpleActionServer < turtlebot_arm_block_manipulation::PickAndPlaceAction >	as_
turtlebot_arm_block_manipulation::PickAndPlaceFeedback	feedback_
turtlebot_arm_block_manipulation::PickAndPlaceGoalConstPtr	goal_
moveit::planning_interface::MoveGroup	gripper_
double	gripper_closed
double	gripper_open
ros::NodeHandle	nh_
ros::Subscriber	pick_and_place_sub_
turtlebot_arm_block_manipulation::PickAndPlaceResult	result_
ros::Publisher	target_pose_pub_
double	z_up

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Detailed Description

Definition at line 44 of file pick_and_place_action_server.cpp.

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Constructor & Destructor Documentation

turtlebot_arm_block_manipulation::PickAndPlaceServer::PickAndPlaceServer

(

const std::string

name

)

[inline]

Definition at line 70 of file pick_and_place_action_server.cpp.

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Member Function Documentation

float turtlebot_arm_block_manipulation::PickAndPlaceServer::fRand	(	float	min,
		float	max
	)		[inline]

Definition at line 299 of file pick_and_place_action_server.cpp.

void turtlebot_arm_block_manipulation::PickAndPlaceServer::goalCB

(

)

[inline]

Definition at line 82 of file pick_and_place_action_server.cpp.

bool turtlebot_arm_block_manipulation::PickAndPlaceServer::moveArmTo

(

const std::string &

target

)

[inline]

Move arm to a named configuration, normally described in the robot semantic description SRDF file.

Parameters:

target

Named target to achieve

Returns:

True of success, false otherwise

Definition at line 181 of file pick_and_place_action_server.cpp.

bool turtlebot_arm_block_manipulation::PickAndPlaceServer::moveArmTo

(

const geometry_msgs::Pose &

target

)

[inline]

Move arm to a target pose. Only position coordinates are taken into account; the orientation is calculated according to the direction and distance to the target.

Parameters:

target

Pose target to achieve

Returns:

True of success, false otherwise

Definition at line 209 of file pick_and_place_action_server.cpp.

void turtlebot_arm_block_manipulation::PickAndPlaceServer::pickAndPlace	(	const geometry_msgs::Pose &	start_pose,
		const geometry_msgs::Pose &	end_pose
	)		[inline]

Definition at line 120 of file pick_and_place_action_server.cpp.

void turtlebot_arm_block_manipulation::PickAndPlaceServer::preemptCB

(

)

[inline]

Definition at line 113 of file pick_and_place_action_server.cpp.

void turtlebot_arm_block_manipulation::PickAndPlaceServer::sendGoalFromTopic

(

const geometry_msgs::PoseArrayConstPtr &

msg

)

[inline]

Definition at line 106 of file pick_and_place_action_server.cpp.

bool turtlebot_arm_block_manipulation::PickAndPlaceServer::setGripper

(

float

opening

)

[inline]

Set gripper opening.

Parameters:

opening

Physical opening of the gripper, in meters

Returns:

True of success, false otherwise

Definition at line 276 of file pick_and_place_action_server.cpp.

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Member Data Documentation

std::string turtlebot_arm_block_manipulation::PickAndPlaceServer::action_name_ [private]

Definition at line 50 of file pick_and_place_action_server.cpp.

moveit::planning_interface::MoveGroup turtlebot_arm_block_manipulation::PickAndPlaceServer::arm_ [private]

Definition at line 60 of file pick_and_place_action_server.cpp.

std::string turtlebot_arm_block_manipulation::PickAndPlaceServer::arm_link [private]

Definition at line 64 of file pick_and_place_action_server.cpp.

actionlib::SimpleActionServer<turtlebot_arm_block_manipulation::PickAndPlaceAction> turtlebot_arm_block_manipulation::PickAndPlaceServer::as_ [private]

Definition at line 49 of file pick_and_place_action_server.cpp.

turtlebot_arm_block_manipulation::PickAndPlaceFeedback turtlebot_arm_block_manipulation::PickAndPlaceServer::feedback_ [private]

Definition at line 52 of file pick_and_place_action_server.cpp.

turtlebot_arm_block_manipulation::PickAndPlaceGoalConstPtr turtlebot_arm_block_manipulation::PickAndPlaceServer::goal_ [private]

Definition at line 54 of file pick_and_place_action_server.cpp.

moveit::planning_interface::MoveGroup turtlebot_arm_block_manipulation::PickAndPlaceServer::gripper_ [private]

Definition at line 61 of file pick_and_place_action_server.cpp.

double turtlebot_arm_block_manipulation::PickAndPlaceServer::gripper_closed [private]

Definition at line 66 of file pick_and_place_action_server.cpp.

double turtlebot_arm_block_manipulation::PickAndPlaceServer::gripper_open [private]

Definition at line 65 of file pick_and_place_action_server.cpp.

ros::NodeHandle turtlebot_arm_block_manipulation::PickAndPlaceServer::nh_ [private]

Definition at line 48 of file pick_and_place_action_server.cpp.

ros::Subscriber turtlebot_arm_block_manipulation::PickAndPlaceServer::pick_and_place_sub_ [private]

Definition at line 57 of file pick_and_place_action_server.cpp.

turtlebot_arm_block_manipulation::PickAndPlaceResult turtlebot_arm_block_manipulation::PickAndPlaceServer::result_ [private]

Definition at line 53 of file pick_and_place_action_server.cpp.

ros::Publisher turtlebot_arm_block_manipulation::PickAndPlaceServer::target_pose_pub_ [private]

Definition at line 56 of file pick_and_place_action_server.cpp.

double turtlebot_arm_block_manipulation::PickAndPlaceServer::z_up [private]

Definition at line 67 of file pick_and_place_action_server.cpp.

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

• pick_and_place_action_server.cpp