Oversees the grasping app; bundles together functionality in higher level calls. More...

#include <object_manipulator.h>

Public Member Functions
	ObjectManipulator ()
	Initializes ros clients as needed.
void	pickup (const object_manipulation_msgs::PickupGoal::ConstPtr &pickup_goal, actionlib::SimpleActionServer< object_manipulation_msgs::PickupAction > *action_server)
	Attempts to grasp the specified object.
void	place (const object_manipulation_msgs::PlaceGoal::ConstPtr &place_goal, actionlib::SimpleActionServer< object_manipulation_msgs::PlaceAction > *action_server)
	Attempts to place the specified object.
	~ObjectManipulator ()
Private Attributes
std::string	default_cluster_planner_
	The name of the service to be used by default for grasp planning on point cloud objects.
std::string	default_database_planner_
	The name of the service to be used by default for grasp planning on database objects.
std::string	default_probabilistic_planner_
	The name of the service to be used by default for grasp planning on probabilistic recognition results.
GraspExecutorWithApproach *	grasp_executor_with_approach_
	Instance of the grasp executor with approach.
MultiArmServiceWrapper < object_manipulation_msgs::GraspPlanning >	grasp_planning_services_
	Wrapper for multiple grasp planning services with different names.
GraspMarkerPublisher *	marker_pub_
	Publisher for grasp markers, or NULL if publishing is disabled.
PlaceExecutor *	place_executor_
	Instance of the executor used for placing objects.
ros::NodeHandle	priv_nh_
	The private ROS node handle.
bool	randomize_grasps_
	Whether the order in which grasps are tried should be randomized first. Debug purposes.
ReactiveGraspExecutor *	reactive_grasp_executor_
	Instance of the reactive grasp executor.
ReactivePlaceExecutor *	reactive_place_executor_
	Instance of the executor used for reactive placing of objects.
ros::NodeHandle	root_nh_
	The root ROS node handle.

Detailed Description

Oversees the grasping app; bundles together functionality in higher level calls.

Also wraps the functionality in action replies, with the actual server passed in from the caller so we keep ROS instantiations somewhat separated.

Definition at line 59 of file object_manipulator.h.

Constructor & Destructor Documentation

object_manipulator::ObjectManipulator::ObjectManipulator ( )

Initializes ros clients as needed.

Definition at line 61 of file object_manipulator.cpp.

object_manipulator::ObjectManipulator::~ObjectManipulator ( )

Definition at line 88 of file object_manipulator.cpp.

Member Function Documentation

void object_manipulator::ObjectManipulator::pickup	(	const object_manipulation_msgs::PickupGoal::ConstPtr &	pickup_goal,
		actionlib::SimpleActionServer< object_manipulation_msgs::PickupAction > *	action_server
	)

Attempts to grasp the specified object.

Definition at line 97 of file object_manipulator.cpp.

void object_manipulator::ObjectManipulator::place	(	const object_manipulation_msgs::PlaceGoal::ConstPtr &	place_goal,
		actionlib::SimpleActionServer< object_manipulation_msgs::PlaceAction > *	action_server
	)