segmented_clutter_grasp_planner::segmented_clutter_grasp_planner::ClusteredClutterGraspPlanner Class Reference

Public Member Functions
def	__init__
def	call_plan_point_cluster_grasp
def	call_set_point_cluster_grasp_params
def	find_grasps
def	plan_grasps_for_target
	return grasps for either a service or action request
def	plan_segmented_clutter_grasps_callback
	service callback for the plan_segmented_clutter_grasps service
def	process_point_cloud
	call the find_container_action to remove parallel-to-container-side points and cluster the contents
def	segmented_clutter_grasps_execute_cb
	action callback for the segmented_clutter_grasps_action
Public Attributes
	ik_utilities
	tf_listener
Private Attributes
	_as
	_check_ik
	_cluster_grasp_params_srv
	_cluster_grasp_srv
	_cluster_planner_name
	_container_client
	_planning_scene_srv
	_pregrasp_just_outside_box
	_side_opening

Detailed Description

def segmented_clutter_grasp_planner::segmented_clutter_grasp_planner::ClusteredClutterGraspPlanner::__init__	(	self,
		tf_listener = `None`,
		advertise_service = `False`,
		advertise_action = `True`
	)

def segmented_clutter_grasp_planner::segmented_clutter_grasp_planner::ClusteredClutterGraspPlanner::call_plan_point_cluster_grasp	(	self,
		cluster,
		arm_name,
		reference_frame_id,
		side = `False`
	)

def segmented_clutter_grasp_planner::segmented_clutter_grasp_planner::ClusteredClutterGraspPlanner::call_set_point_cluster_grasp_params	(	self,
		side = `False`,
		pregrasp_just_outside_box = `False`
	)

def segmented_clutter_grasp_planner::segmented_clutter_grasp_planner::ClusteredClutterGraspPlanner::find_grasps	(	self,
		point_cloud,
		box_pose,
		box_dims,
		arm_name,
		reference_frame_id
	)

def segmented_clutter_grasp_planner::segmented_clutter_grasp_planner::ClusteredClutterGraspPlanner::plan_grasps_for_target	(	self,
		target,
		arm_name
	)

return grasps for either a service or action request

def segmented_clutter_grasp_planner::segmented_clutter_grasp_planner::ClusteredClutterGraspPlanner::plan_segmented_clutter_grasps_callback	(	self,
		req
	)

service callback for the plan_segmented_clutter_grasps service

def segmented_clutter_grasp_planner::segmented_clutter_grasp_planner::ClusteredClutterGraspPlanner::process_point_cloud	(	self,
		point_cloud,
		box_pose,
		box_dims,
		side = `False`
	)

call the find_container_action to remove parallel-to-container-side points and cluster the contents

def segmented_clutter_grasp_planner::segmented_clutter_grasp_planner::ClusteredClutterGraspPlanner::segmented_clutter_grasps_execute_cb	(	self,
		goal
	)