GripperPoseAction Class Reference

An action for getting a gripper pose using interactive markers. More...

Public Member Functions
void	eraseAllGraspMarkers ()
geometry_msgs::PoseStamped	fromWrist (const geometry_msgs::PoseStamped &ps)
	Translate to the control pose.
geometry_msgs::PoseStamped	getDefaultPose (std::string arm_name)
void	goalCB ()
	Callback to accept a new action goal.
	GripperPoseAction ()
void	initButtonMarker ()
void	initGraspMarkers ()
void	initGripperControl ()
void	initGripperMarker ()
void	initMarkers ()
	Re-initializes all markers.
void	initObjectMarker ()
void	preemptCB ()
	Callback to allow this action to get preempted by backend.
void	selectGrasp (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	setIdle ()
	Remove the markers.
void	setSeed (const geometry_msgs::PoseStampedConstPtr &seed)
geometry_msgs::PoseStamped	toWrist (const geometry_msgs::PoseStamped &ps)
	Translate the control pose to the wrist.
bool	transformGripperPose (const std::string frame_id="/base_link")
void	updateGripperAngle ()
void	updateGripperOpening ()
void	updatePoses ()
	Update the pose of certain markers.
	~GripperPoseAction ()
Protected Member Functions
void	acceptCB ()
	Return with the gripper pose if the pose is valid, otherwise do nothing.
void	cancelCB ()
	Cancel this action call.
void	cycleGrasps (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	focusCB ()
	Sends a request for the 3D camera to focus on the ghosted gripper.
bool	getModelMesh (int model_id, arm_navigation_msgs::Shape &mesh)
void	graspPlanCB ()
	Return with the gripper pose if the pose is valid, otherwise do nothing.
void	graspPlanResultCB (const actionlib::SimpleClientGoalState &state, const object_manipulation_msgs::GraspPlanningResultConstPtr &result)
	Callback that receives the result of a TestGripperPose action.
void	gripperClickCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
	Called when the gripper is clicked; each call cycles through gripper opening values.
void	initMenus ()
	Initialize the menus for all markers.
visualization_msgs::InteractiveMarker	makeCloudMarker (const char *name, const geometry_msgs::PoseStamped &stamped, float point_size, std_msgs::ColorRGBA color)
	Create an interactive marker from a point cloud.
void	slowSync ()
void	spinOnce ()
	ROS spin update callback.
void	testGripperResultCallback (const actionlib::SimpleClientGoalState &state, const pr2_object_manipulation_msgs::TestGripperPoseResultConstPtr &result)
	Callback that receives the result of a TestGripperPose action.
void	testPose (geometry_msgs::PoseStamped pose, float opening)
void	updateGripper (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
	Callback for pose updates from the controls.
Protected Attributes
MenuHandler::EntryHandle	accept_handle_
bool	active_
bool	always_call_planner_
geometry_msgs::PoseStamped	button_marker_pose_
MenuHandler::EntryHandle	cancel_handle_
object_manipulator::ActionWrapper < point_cloud_server::StoreCloudAction >	cloud_server_client_
geometry_msgs::PoseStamped	control_offset_
bool	double_menu_
MenuHandler::EntryHandle	focus_handle_
ros::ServiceClient	get_model_mesh_client_
std::string	get_pose_name_
actionlib::SimpleActionServer < pr2_object_manipulation_msgs::GetGripperPoseAction >	get_pose_server_
object_manipulator::ActionWrapper < object_manipulation_msgs::GraspPlanningAction >	grasp_plan_client_
float	gripper_angle_
float	gripper_opening_
geometry_msgs::PoseStamped	gripper_pose_
int	interface_number_
object_manipulator::MechanismInterface	mechanism_
MenuHandler	menu_gripper_
ros::NodeHandle	nh_
pcl::PointCloud< PointT >::Ptr	object_cloud_
bool	object_model_
int	planner_index_
std::vector < geometry_msgs::PoseStamped >	planner_poses_
std::vector< PoseState >	planner_states_
ros::NodeHandle	pnh_
PoseState	pose_state_
ros::Publisher	pub_cloud_
ros::Publisher	pub_focus_
InteractiveMarkerServer	server_
ros::Timer	slow_sync_timer_
ros::Timer	spin_timer_
ros::Subscriber	sub_seed_
int	task_number_
object_manipulator::ActionWrapper < pr2_object_manipulation_msgs::TestGripperPoseAction >	test_pose_client_
int	tested_grasp_index_
bool	testing_current_grasp_
bool	testing_planned_grasp_
tf::TransformListener	tfl_

Detailed Description

An action for getting a gripper pose using interactive markers.

Definition at line 83 of file pr2_interactive_gripper_pose_action.cpp.

Constructor & Destructor Documentation

GripperPoseAction::GripperPoseAction ( ) [inline]

Definition at line 144 of file pr2_interactive_gripper_pose_action.cpp.

GripperPoseAction::~GripperPoseAction ( ) [inline]

Definition at line 203 of file pr2_interactive_gripper_pose_action.cpp.

Member Function Documentation

void GripperPoseAction::acceptCB ( ) [inline, protected]

Return with the gripper pose if the pose is valid, otherwise do nothing.

Definition at line 814 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::cancelCB ( ) [inline, protected]

Cancel this action call.

Definition at line 832 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::cycleGrasps ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [inline, protected]

Definition at line 781 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::eraseAllGraspMarkers ( ) [inline]

Definition at line 525 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::focusCB ( ) [inline, protected]

Sends a request for the 3D camera to focus on the ghosted gripper.

Definition at line 844 of file pr2_interactive_gripper_pose_action.cpp.

geometry_msgs::PoseStamped GripperPoseAction::fromWrist ( const geometry_msgs::PoseStamped & ps ) [inline]

Translate to the control pose.

Definition at line 456 of file pr2_interactive_gripper_pose_action.cpp.

geometry_msgs::PoseStamped GripperPoseAction::getDefaultPose ( std::string arm_name ) [inline]

Definition at line 477 of file pr2_interactive_gripper_pose_action.cpp.

bool GripperPoseAction::getModelMesh	(	int	model_id,
		arm_navigation_msgs::Shape &	mesh
	)			`[inline, protected]`

Definition at line 935 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::goalCB ( ) [inline]

Callback to accept a new action goal.

Definition at line 294 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::graspPlanCB ( ) [inline, protected]

Return with the gripper pose if the pose is valid, otherwise do nothing.

Definition at line 681 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::graspPlanResultCB	(	const actionlib::SimpleClientGoalState &	state,
		const object_manipulation_msgs::GraspPlanningResultConstPtr &	result
	)			`[inline, protected]`

Callback that receives the result of a TestGripperPose action.

Definition at line 726 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::gripperClickCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [inline, protected]

Called when the gripper is clicked; each call cycles through gripper opening values.

Definition at line 853 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::initButtonMarker ( ) [inline]

Definition at line 561 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::initGraspMarkers ( ) [inline]

Definition at line 510 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::initGripperControl ( ) [inline]

Definition at line 602 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::initGripperMarker ( ) [inline]

Definition at line 581 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::initMarkers ( ) [inline]

Re-initializes all markers.

Definition at line 503 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::initMenus ( ) [inline, protected]

Initialize the menus for all markers.

Definition at line 920 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::initObjectMarker ( ) [inline]

Definition at line 572 of file pr2_interactive_gripper_pose_action.cpp.

visualization_msgs::InteractiveMarker GripperPoseAction::makeCloudMarker	(	const char *	name,
		const geometry_msgs::PoseStamped &	stamped,
		float	point_size,
		std_msgs::ColorRGBA	color
	)			`[inline, protected]`

Create an interactive marker from a point cloud.

Definition at line 959 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::preemptCB ( ) [inline]

Callback to allow this action to get preempted by backend.

Definition at line 433 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::selectGrasp ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [inline]

Definition at line 536 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::setIdle ( ) [inline]

Remove the markers.

Definition at line 281 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::setSeed ( const geometry_msgs::PoseStampedConstPtr & seed ) [inline]

Definition at line 232 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::slowSync ( ) [inline, protected]

Definition at line 622 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::spinOnce ( ) [inline, protected]

ROS spin update callback.

Definition at line 616 of file pr2_interactive_gripper_pose_action.cpp.

void GripperPoseAction::testGripperResultCallback	(	const actionlib::SimpleClientGoalState &	state,
		const pr2_object_manipulation_msgs::TestGripperPoseResultConstPtr &	result
	)			`[inline, protected]`