PR2GripperGraspController Class Reference

List of all members.

Public Member Functions
	PR2GripperGraspController ()
	~PR2GripperGraspController ()
Private Member Functions
void	executeCB (const object_manipulation_msgs::GraspHandPostureExecutionGoalConstPtr &goal)
bool	getGripperValue (double &value)
	Returns the current value of the gripper joint.
bool	serviceCallback (object_manipulation_msgs::GraspStatus::Request &request, object_manipulation_msgs::GraspStatus::Response &response)
Private Attributes
actionlib::SimpleActionServer < object_manipulation_msgs::GraspHandPostureExecutionAction > *	action_server_
	Action server for the grasp poture action.
actionlib::SimpleActionClient < pr2_controllers_msgs::Pr2GripperCommandAction > *	gripper_action_client_
	Action client for moving the PR2 gripper.
double	gripper_object_presence_threshold_
	A value of [rl]_gripper_joint below this indicates there is nothing inside the gripper.
std::string	gripper_virtual_joint_name_
	The name of the virtual joint of the gripper.
ros::NodeHandle	priv_nh_
	The private namespace node handle.
ros::ServiceServer	query_srv_
	Server for the posture query service.
ros::NodeHandle	root_nh_
	The root namespace node handle.
Static Private Attributes
static const double	DEFAULT_GRIPPER_OBJECT_PRESENCE_THRESHOLD = 0.0021
	Default value in case this parameter is not in the launch file.
static const double	GRIPPER_CLOSED = 0.0
	Consts for gripper fully open or fully closed for gripper controller.
static const double	GRIPPER_OPEN = 0.086
	Consts for gripper fully open or fully closed for gripper controller.

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Detailed Description

Definition at line 48 of file pr2_gripper_grasp_controller.cpp.

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Constructor & Destructor Documentation

PR2GripperGraspController::PR2GripperGraspController

(

)

[inline]

Definition at line 225 of file pr2_gripper_grasp_controller.cpp.

PR2GripperGraspController::~PR2GripperGraspController

(

)

[inline]

Definition at line 259 of file pr2_gripper_grasp_controller.cpp.

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Member Function Documentation

void PR2GripperGraspController::executeCB

(

const object_manipulation_msgs::GraspHandPostureExecutionGoalConstPtr &

goal

)

[inline, private]

Definition at line 117 of file pr2_gripper_grasp_controller.cpp.

bool PR2GripperGraspController::getGripperValue

(

double &

value

)

[inline, private]

Returns the current value of the gripper joint.

Definition at line 85 of file pr2_gripper_grasp_controller.cpp.

bool PR2GripperGraspController::serviceCallback	(	object_manipulation_msgs::GraspStatus::Request &	request,
		object_manipulation_msgs::GraspStatus::Response &	response
	)			[inline, private]

Definition at line 203 of file pr2_gripper_grasp_controller.cpp.

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Member Data Documentation

actionlib::SimpleActionServer<object_manipulation_msgs::GraspHandPostureExecutionAction>* PR2GripperGraspController::action_server_ [private]

Action server for the grasp poture action.

Definition at line 62 of file pr2_gripper_grasp_controller.cpp.

const double PR2GripperGraspController::DEFAULT_GRIPPER_OBJECT_PRESENCE_THRESHOLD = 0.0021 [static, private]

Default value in case this parameter is not in the launch file.

Definition at line 80 of file pr2_gripper_grasp_controller.cpp.

actionlib::SimpleActionClient<pr2_controllers_msgs::Pr2GripperCommandAction>* PR2GripperGraspController::gripper_action_client_ [private]

Action client for moving the PR2 gripper.

Definition at line 59 of file pr2_gripper_grasp_controller.cpp.

const double PR2GripperGraspController::GRIPPER_CLOSED = 0.0 [static, private]

Consts for gripper fully open or fully closed for gripper controller.

Definition at line 75 of file pr2_gripper_grasp_controller.cpp.

double PR2GripperGraspController::gripper_object_presence_threshold_ [private]

A value of [rl]_gripper_joint below this indicates there is nothing inside the gripper.

Definition at line 78 of file pr2_gripper_grasp_controller.cpp.

const double PR2GripperGraspController::GRIPPER_OPEN = 0.086 [static, private]

Consts for gripper fully open or fully closed for gripper controller.

Definition at line 73 of file pr2_gripper_grasp_controller.cpp.

std::string PR2GripperGraspController::gripper_virtual_joint_name_ [private]

The name of the virtual joint of the gripper.

Definition at line 68 of file pr2_gripper_grasp_controller.cpp.

ros::NodeHandle PR2GripperGraspController::priv_nh_ [private]

The private namespace node handle.

Definition at line 56 of file pr2_gripper_grasp_controller.cpp.

ros::ServiceServer PR2GripperGraspController::query_srv_ [private]

Server for the posture query service.

Definition at line 65 of file pr2_gripper_grasp_controller.cpp.

ros::NodeHandle PR2GripperGraspController::root_nh_ [private]

The root namespace node handle.

Definition at line 53 of file pr2_gripper_grasp_controller.cpp.

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

• pr2_gripper_grasp_controller.cpp