This class describe the grasping and correction of the grasp position. More...
#include <grasp_chair.h>
Public Member Functions | |
| void | correction (simple_robot_control::Arm &arm, char lr, tf::StampedTransform corrGrasp, tf::StampedTransform preGrasp, tf::StampedTransform goalGrasp) |
| Correction of the grasp position if necessary. | |
| bool | grasp (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response) |
| Service call for grasping the chair. | |
| GraspChair (simple_robot_control::Robot *robot, Gripper *gripper) | |
| bool | release (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response) |
| Service call for releasing the grasp and returning to start position. | |
| void | setGraspPositions_cb (const PointCloud::ConstPtr &msg) |
| Set the current grasp position. | |
Private Attributes | |
| Gripper * | gripper |
| geometry_msgs::PointStamped | left_Gripper |
| bool | position_set |
| geometry_msgs::PointStamped | right_Gripper |
| simple_robot_control::Robot * | robot |
This class describe the grasping and correction of the grasp position.
The grasp positions will be set with the setGraspPosition_cb. The idea for grasping the object is that the robot first move his arms into a preGrasp_position. From there it is possible to grasp the chair safely. If we can't grasp the chair successfully we must manipulate the chair. For a 100% correction of the orientation of the chair we need some knowledge about the pivot of the chair. Because we haven't this knowledge, we could only use a simple try for correction. We have to realize in which direction the chair is rotated (clockwise, or against clockwise) so we can decide which arm should be used for the correction. At this point we affect a hard assumption, because we presuppose that we can grasp the gripper_point which is closer to the robot. So, we grasp the closer gripper_point and move him to another new position. With the service_call the program will start again...
Definition at line 29 of file grasp_chair.h.
| GraspChair::GraspChair | ( | simple_robot_control::Robot * | robot, |
| Gripper * | gripper | ||
| ) |
Definition at line 13 of file grasp_chair.cpp.
| void GraspChair::correction | ( | simple_robot_control::Arm & | arm, |
| char | lr, | ||
| tf::StampedTransform | corrGrasp, | ||
| tf::StampedTransform | preGrasp, | ||
| tf::StampedTransform | goalGrasp | ||
| ) |
Correction of the grasp position if necessary.
Definition at line 151 of file grasp_chair.cpp.
| bool GraspChair::grasp | ( | std_srvs::Empty::Request & | request, |
| std_srvs::Empty::Response & | response | ||
| ) |
Service call for grasping the chair.
Definition at line 19 of file grasp_chair.cpp.
| bool GraspChair::release | ( | std_srvs::Empty::Request & | request, |
| std_srvs::Empty::Response & | response | ||
| ) |
Service call for releasing the grasp and returning to start position.
Definition at line 127 of file grasp_chair.cpp.
| void GraspChair::setGraspPositions_cb | ( | const PointCloud::ConstPtr & | msg | ) |
Set the current grasp position.
Definition at line 161 of file grasp_chair.cpp.
Gripper* GraspChair::gripper [private] |
Definition at line 46 of file grasp_chair.h.
geometry_msgs::PointStamped GraspChair::left_Gripper [private] |
Definition at line 49 of file grasp_chair.h.
bool GraspChair::position_set [private] |
Definition at line 50 of file grasp_chair.h.
geometry_msgs::PointStamped GraspChair::right_Gripper [private] |
Definition at line 48 of file grasp_chair.h.
simple_robot_control::Robot* GraspChair::robot [private] |
Definition at line 47 of file grasp_chair.h.
