GraspTransferCheckTask Class Reference

Checks which two grasps of the same object can be executed concurrently. More...

#include <graspTransferCheckTask.h>

Inheritance diagram for GraspTransferCheckTask:

[legend]

List of all members.

Public Member Functions
	GraspTransferCheckTask (TaskDispatcher *disp, db_planner::DatabaseManager *mgr, db_planner::TaskRecord rec)
	Just a stub for now.
virtual void	start ()
	Actually does all the work.
	~GraspTransferCheckTask ()
	Removes the object that has been used from the sim world, but not the hand.
Private Member Functions
bool	checkGraspCombo (db_planner::Grasp *grasp1, db_planner::Grasp *grasp2)
	Checks if a pair of grasps is compatible and writes it to the database.
Private Attributes
Hand *	mHand1
	The hands we are planning with.
Hand *	mHand2
GraspableBody *	mObject
	The object we are planning on.
db_planner::PlanningTaskRecord	mPlanningTask
	The record of the actual planning task.

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Detailed Description

Checks which two grasps of the same object can be executed concurrently.

Definition at line 38 of file graspTransferCheckTask.h.

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Constructor & Destructor Documentation

GraspTransferCheckTask::GraspTransferCheckTask	(	TaskDispatcher *	disp,
		db_planner::DatabaseManager *	mgr,
		db_planner::TaskRecord	rec
	)

Just a stub for now.

Definition at line 43 of file graspTransferCheckTask.cpp.

GraspTransferCheckTask::~GraspTransferCheckTask

(

)

Removes the object that has been used from the sim world, but not the hand.

Definition at line 50 of file graspTransferCheckTask.cpp.

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Member Function Documentation

bool GraspTransferCheckTask::checkGraspCombo	(	db_planner::Grasp *	grasp1,
		db_planner::Grasp *	grasp2
	)			[private]

Checks if a pair of grasps is compatible and writes it to the database.

Checks if grasp2 can be executed while grasp1 is active.

• executed both grasps
• if collisions exist, returns false
• checks if the pre-grasp for grasp2 can be executed

Definition at line 160 of file graspTransferCheckTask.cpp.

void GraspTransferCheckTask::start

(

)

[virtual]

Actually does all the work.

Implements Task.

Definition at line 67 of file graspTransferCheckTask.cpp.

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Member Data Documentation

Hand* GraspTransferCheckTask::mHand1 [private]

The hands we are planning with.

Definition at line 41 of file graspTransferCheckTask.h.

Hand * GraspTransferCheckTask::mHand2 [private]

Definition at line 41 of file graspTransferCheckTask.h.

GraspableBody* GraspTransferCheckTask::mObject [private]

The object we are planning on.

Definition at line 43 of file graspTransferCheckTask.h.

db_planner::PlanningTaskRecord GraspTransferCheckTask::mPlanningTask [private]

The record of the actual planning task.

Definition at line 45 of file graspTransferCheckTask.h.

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

• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/DBase/graspTransferCheckTask.h
• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/DBase/graspTransferCheckTask.cpp