shape_grasp_planner.h
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30 
31 // Author: Michael Ferguson
32 
33 #ifndef SIMPLE_GRASPING_SHAPE_GRASP_PLANNER_H
34 #define SIMPLE_GRASPING_SHAPE_GRASP_PLANNER_H
35 
36 #include <ros/ros.h>
37 #include <grasping_msgs/GraspableObject.h>
38 
39 namespace simple_grasping
40 {
41 
47 {
48 public:
54 
55  virtual int plan(const grasping_msgs::Object& object,
56  std::vector<moveit_msgs::Grasp>& grasps);
57 
58 private:
68  int createGrasp(const geometry_msgs::PoseStamped& pose,
69  double gripper_opening,
70  double gripper_pitch,
71  double x_offset,
72  double z_offset,
73  double quality);
74 
86  int createGraspSeries(const geometry_msgs::PoseStamped& pose,
87  double depth, double width, double height,
88  bool use_vertical = true);
89 
90  trajectory_msgs::JointTrajectory makeGraspPosture(double pose);
91 
92  // gripper model
93  std::string left_joint_, right_joint_;
94  double max_opening_;
95  double max_effort_;
97  double tool_offset_;
98  double finger_depth_;
100 
101  // approach model
102  std::string approach_frame_;
105 
106  // retreat model
107  std::string retreat_frame_;
110 
111  // storing of internal grasps as we generate them
112  std::vector<moveit_msgs::Grasp> grasps_;
113 };
114 
115 } // namespace simple_grasping
116 
117 #endif // SIMPLE_GRASPING_SHAPE_GRASP_PLANNER_H
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.
ShapeGraspPlanner(ros::NodeHandle &nh)
Constructor, loads grasp planner configuration from ROS params.
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_.
virtual int plan(const grasping_msgs::Object &object, std::vector< moveit_msgs::Grasp > &grasps)
std::vector< moveit_msgs::Grasp > grasps_
trajectory_msgs::JointTrajectory makeGraspPosture(double pose)
A simple grasp planner that uses the bounding box shape to generate viable grasps.


simple_grasping
Author(s): Michael Ferguson
autogenerated on Thu Jan 14 2021 03:20:55