pick_place_action_capability.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_MOVE_GROUP_PICK_PLACE_ACTION_CAPABILITY_
38 #define MOVEIT_MOVE_GROUP_PICK_PLACE_ACTION_CAPABILITY_
39 
43 #include <moveit_msgs/PickupAction.h>
44 #include <moveit_msgs/PlaceAction.h>
45 
46 #include <memory>
47 
48 namespace move_group
49 {
51 {
52 public:
54  virtual void initialize();
55 
56 private:
57  void executePickupCallback(const moveit_msgs::PickupGoalConstPtr& goal);
58  void executePlaceCallback(const moveit_msgs::PlaceGoalConstPtr& goal);
59 
60  void executePickupCallback_PlanOnly(const moveit_msgs::PickupGoalConstPtr& goal,
61  moveit_msgs::PickupResult& action_res);
62  void executePickupCallback_PlanAndExecute(const moveit_msgs::PickupGoalConstPtr& goal,
63  moveit_msgs::PickupResult& action_res);
64 
65  void executePlaceCallback_PlanOnly(const moveit_msgs::PlaceGoalConstPtr& goal, moveit_msgs::PlaceResult& action_res);
66  void executePlaceCallback_PlanAndExecute(const moveit_msgs::PlaceGoalConstPtr& goal,
67  moveit_msgs::PlaceResult& action_res);
68 
69  bool planUsingPickPlace_Pickup(const moveit_msgs::PickupGoal& goal, moveit_msgs::PickupResult* action_res,
71  bool planUsingPickPlace_Place(const moveit_msgs::PlaceGoal& goal, moveit_msgs::PlaceResult* action_res,
73 
74  void preemptPickupCallback();
75  void preemptPlaceCallback();
76 
79 
82 
83  void setPickupState(MoveGroupState state);
84  void setPlaceState(MoveGroupState state);
85 
86  void fillGrasps(moveit_msgs::PickupGoal& goal);
87 
88  pick_place::PickPlacePtr pick_place_;
89 
90  std::unique_ptr<actionlib::SimpleActionServer<moveit_msgs::PickupAction> > pickup_action_server_;
91  moveit_msgs::PickupFeedback pickup_feedback_;
92 
93  std::unique_ptr<actionlib::SimpleActionServer<moveit_msgs::PlaceAction> > place_action_server_;
94  moveit_msgs::PlaceFeedback place_feedback_;
95 
96  std::unique_ptr<moveit_msgs::AttachedCollisionObject> diff_attached_object_;
97 
100 
102 };
103 }
104 
105 #endif
std::unique_ptr< actionlib::SimpleActionServer< moveit_msgs::PickupAction > > pickup_action_server_
void executePlaceCallback(const moveit_msgs::PlaceGoalConstPtr &goal)
void executePickupCallback_PlanAndExecute(const moveit_msgs::PickupGoalConstPtr &goal, moveit_msgs::PickupResult &action_res)
bool planUsingPickPlace_Place(const moveit_msgs::PlaceGoal &goal, moveit_msgs::PlaceResult *action_res, plan_execution::ExecutableMotionPlan &plan)
void executePickupCallback_PlanOnly(const moveit_msgs::PickupGoalConstPtr &goal, moveit_msgs::PickupResult &action_res)
void executePlaceCallback_PlanAndExecute(const moveit_msgs::PlaceGoalConstPtr &goal, moveit_msgs::PlaceResult &action_res)
bool planUsingPickPlace_Pickup(const moveit_msgs::PickupGoal &goal, moveit_msgs::PickupResult *action_res, plan_execution::ExecutableMotionPlan &plan)
void executePlaceCallback_PlanOnly(const moveit_msgs::PlaceGoalConstPtr &goal, moveit_msgs::PlaceResult &action_res)
void executePickupCallback(const moveit_msgs::PickupGoalConstPtr &goal)
std::unique_ptr< moveit_msgs::AttachedCollisionObject > diff_attached_object_
std::unique_ptr< actionlib::SimpleActionServer< moveit_msgs::PlaceAction > > place_action_server_
void fillGrasps(moveit_msgs::PickupGoal &goal)


manipulation
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Jan 15 2018 03:52:01