#include <reactive_grasp_executor.h>
Public Member Functions | |
| virtual object_manipulation_msgs::GraspResult | lift (const object_manipulation_msgs::PickupGoal &pickup_goal) |
| Lifts the object starting from current gripper pose. | |
| ReactiveGraspExecutor (GraspMarkerPublisher *pub) | |
| Only calls super constructor. | |
Protected Member Functions | |
| virtual object_manipulation_msgs::GraspResult | executeGrasp (const object_manipulation_msgs::PickupGoal &pickup_goal, const object_manipulation_msgs::Grasp &grasp) |
| Uses move_arm to get to pre-grasp, then reactive grasping to grasp. | |
| virtual object_manipulation_msgs::GraspResult | nonReactiveLift (const object_manipulation_msgs::PickupGoal &pickup_goal) |
| Open loop lift that just executes a pre-set trajectory. | |
| virtual object_manipulation_msgs::GraspResult | reactiveLift (const object_manipulation_msgs::PickupGoal &pickup_goal) |
| Lifting based on fingertip forces. | |
Definition at line 41 of file reactive_grasp_executor.h.
| object_manipulator::ReactiveGraspExecutor::ReactiveGraspExecutor | ( | GraspMarkerPublisher * | pub | ) | [inline] |
Only calls super constructor.
Definition at line 60 of file reactive_grasp_executor.h.
| GraspResult object_manipulator::ReactiveGraspExecutor::executeGrasp | ( | const object_manipulation_msgs::PickupGoal & | pickup_goal, |
| const object_manipulation_msgs::Grasp & | grasp | ||
| ) | [protected, virtual] |
Uses move_arm to get to pre-grasp, then reactive grasping to grasp.
Reimplemented from object_manipulator::GraspExecutorWithApproach.
Definition at line 50 of file reactive_grasp_executor.cpp.
| GraspResult object_manipulator::ReactiveGraspExecutor::lift | ( | const object_manipulation_msgs::PickupGoal & | pickup_goal | ) | [virtual] |
Lifts the object starting from current gripper pose.
Reimplemented from object_manipulator::GraspExecutor.
Definition at line 179 of file reactive_grasp_executor.cpp.
| GraspResult object_manipulator::ReactiveGraspExecutor::nonReactiveLift | ( | const object_manipulation_msgs::PickupGoal & | pickup_goal | ) | [protected, virtual] |
Open loop lift that just executes a pre-set trajectory.
Definition at line 106 of file reactive_grasp_executor.cpp.
| GraspResult object_manipulator::ReactiveGraspExecutor::reactiveLift | ( | const object_manipulation_msgs::PickupGoal & | pickup_goal | ) | [protected, virtual] |
Lifting based on fingertip forces.
Definition at line 148 of file reactive_grasp_executor.cpp.
