A simple grasp planner that uses the bounding box shape to generate viable grasps. More...

Public Member Functions
virtual int	plan (const grasping_msgs::Object &object, std::vector< moveit_msgs::Grasp > &grasps)
	ShapeGraspPlanner (ros::NodeHandle &nh)
	Constructor, loads grasp planner configuration from ROS params.
Private Member Functions
int	createGrasp (const geometry_msgs::PoseStamped &pose, double gripper_opening, double gripper_pitch, double x_offset, double z_offset, double quality)
	Generate a grasp, add it to internal grasps_.
int	createGraspSeries (const geometry_msgs::PoseStamped &pose, double depth, double width, double height, bool use_vertical=true)
	Generate a series of grasps around the edge of a shape.
trajectory_msgs::JointTrajectory	makeGraspPosture (double pose)
Private Attributes
double	approach_desired_translation_
std::string	approach_frame_
double	approach_min_translation_
double	finger_depth_
double	grasp_duration_
std::vector< moveit_msgs::Grasp >	grasps_
double	gripper_tolerance_
std::string	left_joint_
double	max_effort_
double	max_opening_
double	retreat_desired_translation_
std::string	retreat_frame_
double	retreat_min_translation_
std::string	right_joint_
double	tool_offset_

Detailed Description

A simple grasp planner that uses the bounding box shape to generate viable grasps.

Definition at line 46 of file shape_grasp_planner.h.

Constructor & Destructor Documentation

simple_grasping::ShapeGraspPlanner::ShapeGraspPlanner ( ros::NodeHandle & nh )

Constructor, loads grasp planner configuration from ROS params.

Parameters:

nh	Nodehandle to use for accessing grasp planner parameters.

Definition at line 75 of file shape_grasp_planner.cpp.

int simple_grasping::ShapeGraspPlanner::createGrasp	(	const geometry_msgs::PoseStamped &	pose,
		double	gripper_opening,
		double	gripper_pitch,
		double	x_offset,
		double	z_offset,
		double	quality
	)		`[private]`

Generate a grasp, add it to internal grasps_.

Parameters:

pose	The pose of the end effector tool point
gripper_pitch	The pitch of the gripper on approach
x_offset	The offset in the x direction (in).
z_offset	The offset in the z direction (up).
quality	The quality to ascribe to this grasp.

Definition at line 108 of file shape_grasp_planner.cpp.

int simple_grasping::ShapeGraspPlanner::createGraspSeries	(	const geometry_msgs::PoseStamped &	pose,
		double	depth,
		double	width,
		double	height,
		bool	use_vertical = `true`
	)		`[private]`

Generate a series of grasps around the edge of a shape.

Parameters:

pose	The pose of the end effector tool point.
depth	The depth of the shape.
width	The width of the shape.
height	The height of the shape.
use_vertical	Whether to include vertical poses. If coming from two sides, the second call probably should not generate vertical poses.