Checks if grasps are feasible in the presence of a table that the object is sitting on. More...
#include <tableCheckTask.h>
Public Member Functions | |
| virtual void | start () |
| Also places the table in the right position "under" the object. | |
| TableCheckTask (TaskDispatcher *disp, db_planner::DatabaseManager *mgr, db_planner::TaskRecord rec) | |
| Loads in the table. | |
| ~TableCheckTask () | |
| Removes the object and the table that has been used from the sim world, but not the hand. | |
Private Member Functions | |
| bool | checkSetGrasp (db_planner::Grasp *grasp) |
| Checks and sets validity for a grasp; returns false if an error is encountered. | |
| double | getTableClearance (db_planner::Grasp *grasp) |
| Returns the smallest table clearance between the grasp and the pre-grasp. | |
Private Attributes | |
| db_planner::PlanningTaskRecord | mPlanningTask |
| The record of the actual planning task. | |
| Body * | mTable |
| The table we are using. | |
Checks if grasps are feasible in the presence of a table that the object is sitting on.
Table is hardcoded to be oriented along the z axis
Definition at line 40 of file tableCheckTask.h.
| TableCheckTask::TableCheckTask | ( | TaskDispatcher * | disp, | |
| db_planner::DatabaseManager * | mgr, | |||
| db_planner::TaskRecord | rec | |||
| ) |
Loads in the table.
Definition at line 39 of file tableCheckTask.cpp.
| TableCheckTask::~TableCheckTask | ( | ) |
Removes the object and the table that has been used from the sim world, but not the hand.
Definition at line 52 of file tableCheckTask.cpp.
| bool TableCheckTask::checkSetGrasp | ( | db_planner::Grasp * | grasp | ) | [private] |
Checks and sets validity for a grasp; returns false if an error is encountered.
Reimplemented from PreGraspCheckTask.
Definition at line 112 of file tableCheckTask.cpp.
| double TableCheckTask::getTableClearance | ( | db_planner::Grasp * | grasp | ) | [private] |
Returns the smallest table clearance between the grasp and the pre-grasp.
Returns a negative value if either is in collision with the table
Definition at line 125 of file tableCheckTask.cpp.
| void TableCheckTask::start | ( | ) | [virtual] |
Also places the table in the right position "under" the object.
Reimplemented from PreGraspCheckTask.
Definition at line 60 of file tableCheckTask.cpp.
The record of the actual planning task.
Reimplemented from PreGraspCheckTask.
Definition at line 47 of file tableCheckTask.h.
Body* TableCheckTask::mTable [private] |
The table we are using.
Definition at line 44 of file tableCheckTask.h.
