object_manipulator Namespace Reference

Helper functions for using image regions of PointCloud2s. More...

Namespaces
namespace	cluster_bounding_box_finder
namespace	convert_functions
namespace	draw_functions
namespace	image_region_functions
namespace	msg
namespace	shapes
Classes
class	ActionWrapper
	Wrapper class for SimpleActionClient that checks server availability on first use. More...
class	BadParamException
	Thrown when a needed parameter on the parameter server is found but does not have the right type. More...
class	CollisionMapException
	Thrown when the grasping pipeline has failed to communicate with the collision map. More...
class	GraspException
	General base class for all exceptions originating in the grasping pipeline. More...
class	GraspExecutor
	Base class, interface and common functionality for grasp execution. More...
class	GraspExecutorWithApproach
	Uses an interpolated IK approach from pregrasp to final grasp. More...
class	GraspMarkerPublisher
	Publishes and keeps track of debug grasp markers. More...
class	HandDescription
class	IncompatibleRobotStateException
	Thrown if the current robot state prevents any grasp execution. More...
class	MechanismException
	Thrown when the grasping pipeline has failed to communicate with or issue commands to the robot. More...
class	MechanismInterface
	A collection of ROS service and action clients needed for grasp execution. More...
class	MissingParamException
	Thrown when a needed parameter is not found on the parameter server. More...
class	MoveArmStuckException
	Thrown if move arm can not plan out of the current arm state. More...
class	MultiArmActionWrapper
	A wrapper for multiple instances of a given action, one for each arm in the system. More...
class	MultiArmServiceWrapper
	A wrapper for multiple instances of a given service, one for each arm in the system. More...
class	ObjectManipulator
	Oversees the grasping app; bundles together functionality in higher level calls. More...
class	ObjectManipulatorNode
	Wraps the Object Manipulator in a ROS API. More...
class	PlaceExecutor
	Functionality for placing a grasped object at a given location. More...
class	ReactiveGraspExecutor
class	ReactivePlaceExecutor
	Uses a reactive version of the move from pre-place to place. More...
class	ServiceNotFoundException
	Thrown when a service or action server was not found. More...
class	ServiceWrapper
	Wrapper class for service clients to perform initialization on first use. More...
class	SimpleGraspExecutor
	Simplest grasp executor, using only final grasp information. More...
Functions
template<class T >
std::vector< T >	concat (const std::vector< T > &v1, const std::vector< T > &v2)
motion_planning_msgs::OrderedCollisionOperations	concat (const motion_planning_msgs::OrderedCollisionOperations &o1, const motion_planning_msgs::OrderedCollisionOperations &o2)
void	drawBox (ros::Publisher &pub, const shapes::Box &shape, const char *ns="box", int id=0, const ros::Duration lifetime=ros::Duration(), const std_msgs::ColorRGBA color=msg::createColorMsg(0.5, 0.5, 0.5, 0.5), bool destroy=false, bool frame_locked=false)
void	drawCylinder (ros::Publisher &pub, const shapes::Cylinder &shape, const char *ns="cylinder", int id=0, const ros::Duration lifetime=ros::Duration(), const std_msgs::ColorRGBA color=msg::createColorMsg(0.5, 0.5, 0.5, 0.5), bool destroy=false, bool frame_locked=false)
void	drawMesh (ros::Publisher &pub, const shapes::Mesh &shape, const char *ns="mesh", int id=0, const ros::Duration lifetime=ros::Duration(), const std_msgs::ColorRGBA color=msg::createColorMsg(0.5, 0.5, 0.5, 0.5), bool destroy=false, bool frame_locked=false)
void	drawSphere (ros::Publisher &pub, const shapes::Sphere &shape, const char *ns="sphere", int id=0, const ros::Duration lifetime=ros::Duration(), const std_msgs::ColorRGBA color=msg::createColorMsg(0.5, 0.5, 0.5, 0.5), bool destroy=false, bool frame_locked=false)
HandDescription &	handDescription ()
	Returns a hand description singleton.
MechanismInterface &	mechInterface ()
	Returns a MechanismInterface singleton.
Variables
static const std::string	ATTACHED_COLLISION_TOPIC = "attached_collision_object"
static const std::string	CARTESIAN_COMMAND_SUFFIX = "/cart/command_pose"
static const std::string	CHECK_STATE_VALIDITY_NAME = "environment_server/get_state_validity"
static const std::string	FK_SERVICE_SUFFIX = "/get_fk"
static const std::string	GRASP_STATUS_SUFFIX = "/grasp_status"
static const std::string	HAND_POSTURE_ACTION_SUFFIX = "/hand_posture_execution"
static const std::string	IK_QUERY_SERVICE_SUFFIX = "/get_ik_solver_info"
static const std::string	IK_SERVICE_SUFFIX = "/constraint_aware_ik"
static const std::string	INTERPOLATED_IK_SERVICE_SUFFIX = "/interpolated_ik"
static const std::string	INTERPOLATED_IK_SET_PARAMS_SERVICE_SUFFIX = "/interpolated_ik_set_params"
static const std::string	LIST_CONTROLLERS_SERVICE_NAME = "/list_controllers"
static const std::string	MARKERS_NAMESPACE = "grasp_markers"
static const std::string	MARKERS_OUT_NAME = "grasp_execution_markers"
static const std::string	MOVE_ARM_ACTION_SUFFIX = "/move_arm"
static const std::string	MOVE_ARM_CONSTRAINED_PLANNER_SERVICE_NAME = "ompl_planning/plan_kinematic_path"
static const std::string	MOVE_ARM_PLANNER_ID = "SBLkConfig1"
static const std::string	MOVE_ARM_PLANNER_SERVICE_NAME = "ompl_planning/plan_kinematic_path"
static const std::string	NORMALIZE_SERVICE_NAME = "trajectory_filter_unnormalizer/filter_trajectory"
static const double	OBJECT_POSITION_TOLERANCE_X = 0.02
static const double	OBJECT_POSITION_TOLERANCE_Y = 0.02
static const double	OBJECT_POSITION_TOLERANCE_Z = 0.02
static const std::string	PICKUP_ACTION_NAME = "object_manipulator_pickup"
static const std::string	PLACE_ACTION_NAME = "object_manipulator_place"
static const std::string	POINT_HEAD_ACTION_TOPIC = "/head_traj_controller/point_head_action"
static const std::string	REACTIVE_GRASP_ACTION_SUFFIX = "/reactive_grasp"
static const std::string	REACTIVE_LIFT_ACTION_SUFFIX = "/reactive_lift"
static const std::string	REACTIVE_PLACE_ACTION_SUFFIX = "/reactive_place"
static const std::string	SWITCH_CONTROLLER_SERVICE_NAME = "/switch_controller"
static const std::string	TRAJECTORY_ACTION_SUFFIX = "/joint_trajectory"

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Detailed Description

Helper functions for using image regions of PointCloud2s.

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Function Documentation

template<class T >

std::vector<T> object_manipulator::concat	(	const std::vector< T > &	v1,
		const std::vector< T > &	v2
	)		[inline]

Definition at line 42 of file vector_tools.h.

motion_planning_msgs::OrderedCollisionOperations object_manipulator::concat	(	const motion_planning_msgs::OrderedCollisionOperations &	o1,
		const motion_planning_msgs::OrderedCollisionOperations &	o2
	)

Definition at line 41 of file vector_tools.cpp.

void object_manipulator::drawBox	(	ros::Publisher &	pub,
		const shapes::Box &	shape,
		const char *	ns = "box",
		int	id = 0,
		const ros::Duration	lifetime = ros::Duration(),
		const std_msgs::ColorRGBA	color = msg::createColorMsg(0.5, 0.5, 0.5, 0.5),
		bool	destroy = false,
		bool	frame_locked = false
	)

Definition at line 61 of file shape_tools.cpp.

void object_manipulator::drawCylinder	(	ros::Publisher &	pub,
		const shapes::Cylinder &	shape,
		const char *	ns = "cylinder",
		int	id = 0,
		const ros::Duration	lifetime = ros::Duration(),
		const std_msgs::ColorRGBA	color = msg::createColorMsg(0.5, 0.5, 0.5, 0.5),
		bool	destroy = false,
		bool	frame_locked = false
	)

Definition at line 44 of file shape_tools.cpp.

void object_manipulator::drawMesh	(	ros::Publisher &	pub,
		const shapes::Mesh &	shape,
		const char *	ns = "mesh",
		int	id = 0,
		const ros::Duration	lifetime = ros::Duration(),
		const std_msgs::ColorRGBA	color = msg::createColorMsg(0.5, 0.5, 0.5, 0.5),
		bool	destroy = false,
		bool	frame_locked = false
	)

Definition at line 95 of file shape_tools.cpp.

void object_manipulator::drawSphere	(	ros::Publisher &	pub,
		const shapes::Sphere &	shape,
		const char *	ns = "sphere",
		int	id = 0,
		const ros::Duration	lifetime = ros::Duration(),
		const std_msgs::ColorRGBA	color = msg::createColorMsg(0.5, 0.5, 0.5, 0.5),
		bool	destroy = false,
		bool	frame_locked = false
	)

Definition at line 78 of file shape_tools.cpp.

HandDescription& object_manipulator::handDescription

(

)

[inline]

Returns a hand description singleton.

Definition at line 160 of file hand_description.h.

MechanismInterface& object_manipulator::mechInterface

(

)

[inline]

Returns a MechanismInterface singleton.

Due to problems with waitForServer, it is not recommended to use multiple instances of the MechanismInterface in the same node. This function provides a singleton.

CAREFUL WITH MULTI-THREADED CODE!!!

Definition at line 408 of file mechanism_interface.h.

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Variable Documentation

const std::string object_manipulator::ATTACHED_COLLISION_TOPIC = "attached_collision_object" [static]

Definition at line 65 of file mechanism_interface.cpp.

const std::string object_manipulator::CARTESIAN_COMMAND_SUFFIX = "/cart/command_pose" [static]

Definition at line 59 of file mechanism_interface.cpp.

const std::string object_manipulator::CHECK_STATE_VALIDITY_NAME = "environment_server/get_state_validity" [static]

Definition at line 47 of file mechanism_interface.cpp.

const std::string object_manipulator::FK_SERVICE_SUFFIX = "/get_fk" [static]

Definition at line 41 of file mechanism_interface.cpp.

const std::string object_manipulator::GRASP_STATUS_SUFFIX = "/grasp_status" [static]

Definition at line 45 of file mechanism_interface.cpp.

const std::string object_manipulator::HAND_POSTURE_ACTION_SUFFIX = "/hand_posture_execution" [static]

Definition at line 55 of file mechanism_interface.cpp.

const std::string object_manipulator::IK_QUERY_SERVICE_SUFFIX = "/get_ik_solver_info" [static]

Definition at line 44 of file mechanism_interface.cpp.

const std::string object_manipulator::IK_SERVICE_SUFFIX = "/constraint_aware_ik" [static]

Definition at line 40 of file mechanism_interface.cpp.

const std::string object_manipulator::INTERPOLATED_IK_SERVICE_SUFFIX = "/interpolated_ik" [static]

Definition at line 42 of file mechanism_interface.cpp.

const std::string object_manipulator::INTERPOLATED_IK_SET_PARAMS_SERVICE_SUFFIX = "/interpolated_ik_set_params" [static]

Definition at line 43 of file mechanism_interface.cpp.

const std::string object_manipulator::LIST_CONTROLLERS_SERVICE_NAME = "/list_controllers" [static]

Definition at line 58 of file mechanism_interface.cpp.

const std::string object_manipulator::MARKERS_NAMESPACE = "grasp_markers" [static]

Definition at line 42 of file grasp_marker_publisher.cpp.

const std::string object_manipulator::MARKERS_OUT_NAME = "grasp_execution_markers" [static]

Definition at line 41 of file grasp_marker_publisher.cpp.

const std::string object_manipulator::MOVE_ARM_ACTION_SUFFIX = "/move_arm" [static]

Definition at line 53 of file mechanism_interface.cpp.

const std::string object_manipulator::MOVE_ARM_CONSTRAINED_PLANNER_SERVICE_NAME = "ompl_planning/plan_kinematic_path" [static]

Definition at line 63 of file mechanism_interface.cpp.

const std::string object_manipulator::MOVE_ARM_PLANNER_ID = "SBLkConfig1" [static]

Definition at line 61 of file mechanism_interface.cpp.

const std::string object_manipulator::MOVE_ARM_PLANNER_SERVICE_NAME = "ompl_planning/plan_kinematic_path" [static]

Definition at line 62 of file mechanism_interface.cpp.

const std::string object_manipulator::NORMALIZE_SERVICE_NAME = "trajectory_filter_unnormalizer/filter_trajectory" [static]

Definition at line 48 of file mechanism_interface.cpp.

const double object_manipulator::OBJECT_POSITION_TOLERANCE_X = 0.02 [static]

Definition at line 69 of file mechanism_interface.cpp.

const double object_manipulator::OBJECT_POSITION_TOLERANCE_Y = 0.02 [static]

Definition at line 70 of file mechanism_interface.cpp.

const double object_manipulator::OBJECT_POSITION_TOLERANCE_Z = 0.02 [static]

Definition at line 71 of file mechanism_interface.cpp.

const std::string object_manipulator::PICKUP_ACTION_NAME = "object_manipulator_pickup" [static]

Definition at line 47 of file object_manipulator_node.cpp.

const std::string object_manipulator::PLACE_ACTION_NAME = "object_manipulator_place" [static]

Definition at line 48 of file object_manipulator_node.cpp.

const std::string object_manipulator::POINT_HEAD_ACTION_TOPIC = "/head_traj_controller/point_head_action" [static]

Definition at line 67 of file mechanism_interface.cpp.

const std::string object_manipulator::REACTIVE_GRASP_ACTION_SUFFIX = "/reactive_grasp" [static]

Definition at line 50 of file mechanism_interface.cpp.

const std::string object_manipulator::REACTIVE_LIFT_ACTION_SUFFIX = "/reactive_lift" [static]

Definition at line 51 of file mechanism_interface.cpp.

const std::string object_manipulator::REACTIVE_PLACE_ACTION_SUFFIX = "/reactive_place" [static]

Definition at line 52 of file mechanism_interface.cpp.

const std::string object_manipulator::SWITCH_CONTROLLER_SERVICE_NAME = "/switch_controller" [static]

Definition at line 57 of file mechanism_interface.cpp.

const std::string object_manipulator::TRAJECTORY_ACTION_SUFFIX = "/joint_trajectory" [static]

Definition at line 54 of file mechanism_interface.cpp.