katana_simple_grasp_planner::GraspPlanner Class Reference

#include <grasp_planner.h>

List of all members.

Public Member Functions
	GraspPlanner ()
void	main_loop ()
virtual	~GraspPlanner ()
Private Member Functions
void	execute_cb (const object_manipulation_msgs::GraspPlanningGoalConstPtr &goal)
std::vector< tf::Transform >	generate_grasps (double x, double y, double z)
std::vector< double >	get_ik (tf::Transform grasp_tf)
Private Attributes
actionlib::SimpleActionServer < object_manipulation_msgs::GraspPlanningAction >	as_
sensor_msgs::JointState	grasp_joint_state_
pluginlib::ClassLoader < kinematics::KinematicsBase >	kinematics_loader_
boost::shared_ptr < kinematics::KinematicsBase >	kinematics_solver_
ros::NodeHandle	nh_
sensor_msgs::JointState	pre_grasp_joint_state_
tf::TransformBroadcaster	tf_broadcaster_

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Detailed Description

Definition at line 41 of file grasp_planner.h.

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Constructor & Destructor Documentation

katana_simple_grasp_planner::GraspPlanner::GraspPlanner

(

)

Definition at line 31 of file grasp_planner.cpp.

katana_simple_grasp_planner::GraspPlanner::~GraspPlanner

(

)

[virtual]

Definition at line 78 of file grasp_planner.cpp.

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Member Function Documentation

void katana_simple_grasp_planner::GraspPlanner::execute_cb

(

const object_manipulation_msgs::GraspPlanningGoalConstPtr &

goal

)

[private]

Definition at line 173 of file grasp_planner.cpp.

std::vector< tf::Transform > katana_simple_grasp_planner::GraspPlanner::generate_grasps	(	double	x,
		double	y,
		double	z
	)			[private]

x, y, z: center of grasp point (the point that should be between the finger tips of the gripper)

Definition at line 85 of file grasp_planner.cpp.

std::vector< double > katana_simple_grasp_planner::GraspPlanner::get_ik

(

tf::Transform

grasp_tf

)

[private]

Definition at line 152 of file grasp_planner.cpp.

void katana_simple_grasp_planner::GraspPlanner::main_loop

(

)

Definition at line 257 of file grasp_planner.cpp.

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Member Data Documentation

actionlib::SimpleActionServer<object_manipulation_msgs::GraspPlanningAction> katana_simple_grasp_planner::GraspPlanner::as_ [private]

Definition at line 56 of file grasp_planner.h.

sensor_msgs::JointState katana_simple_grasp_planner::GraspPlanner::grasp_joint_state_ [private]

Definition at line 59 of file grasp_planner.h.

pluginlib::ClassLoader<kinematics::KinematicsBase> katana_simple_grasp_planner::GraspPlanner::kinematics_loader_ [private]

Definition at line 52 of file grasp_planner.h.

boost::shared_ptr<kinematics::KinematicsBase> katana_simple_grasp_planner::GraspPlanner::kinematics_solver_ [private]

Definition at line 53 of file grasp_planner.h.

ros::NodeHandle katana_simple_grasp_planner::GraspPlanner::nh_ [private]

Definition at line 55 of file grasp_planner.h.

sensor_msgs::JointState katana_simple_grasp_planner::GraspPlanner::pre_grasp_joint_state_ [private]

Definition at line 58 of file grasp_planner.h.

tf::TransformBroadcaster katana_simple_grasp_planner::GraspPlanner::tf_broadcaster_ [private]

Definition at line 50 of file grasp_planner.h.

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

• grasp_planner.h
• grasp_planner.cpp