#include <manipulation_transforms_ros.h>

Public Member Functions
void	init_services (const std::string &ns="")
bool	loadInitialTransforms (manipulation_transforms::LoadInitialTransforms::Request &req, manipulation_transforms::LoadInitialTransforms::Response &resp)
	Provides the service interface for reloading grasp transforms from param server.
	ManipulationTransformsROS (const std::string &reference_frame="")
	ManipulationTransformsROS (const std::string &reference_frame, const std::string &ns)
	ManipulationTransformsROS (const std::string &reference_frame, geometry_msgs::PoseStamped &obj_init_pose, std::vector< geometry_msgs::PoseStamped > effector_init_poses)
bool	mapEffectorPosesToObject (manipulation_transforms::MapEffectorPosesToObject::Request &req, manipulation_transforms::MapEffectorPosesToObject::Response &resp)
	Provides the service interface to mapEffectorPosesToObject.
bool	mapEffectorTrajectoriesToObject (manipulation_transforms::MapEffectorTrajectoriesToObject::Request &req, manipulation_transforms::MapEffectorTrajectoriesToObject::Response &resp)
	Provides the service interface for getting a full object trajectory from effector trajectories.
bool	mapEffectorTwistsToObject (manipulation_transforms::MapEffectorTwistsToObject::Request &req, manipulation_transforms::MapEffectorTwistsToObject::Response &resp)
	Provides the service interface to mapEffectorTwistsToObject.
bool	mapObjectPoseToEffectors (manipulation_transforms::MapObjectPoseToEffectors::Request &req, manipulation_transforms::MapObjectPoseToEffectors::Response &resp)
	Provides the service interface to mapObjectPoseToEffectors.
bool	mapObjectTrajectoryToEffectors (manipulation_transforms::MapObjectTrajectoryToEffectors::Request &req, manipulation_transforms::MapObjectTrajectoryToEffectors::Response &resp)
	Provides the service interface for getting full effector trajectories from an object trajectory.
bool	mapObjectTwistToEffectors (manipulation_transforms::MapObjectTwistToEffectors::Request &req, manipulation_transforms::MapObjectTwistToEffectors::Response &resp)
	Provides the service interface to mapObjectTwistToEffectors.
bool	setInitialTransforms (manipulation_transforms::SetInitialTransforms::Request &req, manipulation_transforms::SetInitialTransforms::Response &resp)
	Provides the service interface for setting grasp transforms as a service call.
virtual	~ManipulationTransformsROS ()
Private Member Functions
int	checkForParamServerTransforms (const ros::NodeHandle &nh, bool warn=false)
	Checks for availability of grasp transforms on the parameter server using local param nodehandle.
bool	loadParamServerTransforms (const ros::NodeHandle &nh)
	Load rigid grasp transforms from parameter server.
Private Attributes
std::string	BASE_FRAME_
std::vector< btTransform >	effector_init_poses
ros::ServiceServer	effector_poses_to_object_service_
	Services for querying object and effector poses.
ros::ServiceServer	effector_trajectories_to_object_service_
ros::ServiceServer	effector_twists_to_object_service_
ros::ServiceServer	load_initial_transforms_service_
int	n_effectors_
btTransform	obj_initial_pose_
ros::ServiceServer	object_pose_to_effectors_service_
ros::ServiceServer	object_trajectory_to_effectors_service_
ros::ServiceServer	object_twist_to_effectors_service_
ros::NodeHandle	param_nh_
ros::NodeHandle	private_nh_
ros::ServiceServer	set_initial_transforms_service_
ManipulationTransforms	solver_

Detailed Description

Definition at line 63 of file manipulation_transforms_ros.h.

Constructor & Destructor Documentation

ManipulationTransformsROS::ManipulationTransformsROS ( const std::string & reference_frame = "" )

Default constructor for ManipulationTransformsROS If initialized with this constructor, initial grasp transforms must be provided manually through a service call to setInitialTransforms

Definition at line 53 of file manipulation_transforms_ros.cpp.

ManipulationTransformsROS::ManipulationTransformsROS	(	const std::string &	reference_frame,
		const std::string &	ns
	)

Parameters:

name	Namespace to prepend to the parameter nodehandle

Definition at line 59 of file manipulation_transforms_ros.cpp.

ManipulationTransformsROS::ManipulationTransformsROS	(	const std::string &	reference_frame,
		geometry_msgs::PoseStamped &	obj_init_pose,
		std::vector< geometry_msgs::PoseStamped >	effector_init_poses
	)

Parameters:

obj_init_pose	Transform from initial pose of object to reference frame
effector_init_poses	Transforms from initial pose of each effector to reference frame

Definition at line 79 of file manipulation_transforms_ros.cpp.

ManipulationTransformsROS::~ManipulationTransformsROS ( ) [virtual]

Definition at line 112 of file manipulation_transforms_ros.cpp.

Member Function Documentation

int ManipulationTransformsROS::checkForParamServerTransforms	(	const ros::NodeHandle &	nh,
		bool	warn = `false`
	)		`[private]`

Checks for availability of grasp transforms on the parameter server using local param nodehandle.

Parameters:

nh	Nodehandle to query for params
warn	Warn the user if params are not found

Returns:: The number of effector transforms found on the parameter, with names matching "effector#_init_pose/position" and "effector#_init_pose/orientation". Returns -1 if no transform is found for the object matching "obj_init_pose/position" and "obj_init_pose/orientation"

Definition at line 352 of file manipulation_transforms_ros.cpp.

void ManipulationTransformsROS::init_services ( const std::string & ns = "" )

Definition at line 114 of file manipulation_transforms_ros.cpp.

bool ManipulationTransformsROS::loadInitialTransforms	(	manipulation_transforms::LoadInitialTransforms::Request &	req,
		manipulation_transforms::LoadInitialTransforms::Response &	resp
	)

Provides the service interface for reloading grasp transforms from param server.

Definition at line 172 of file manipulation_transforms_ros.cpp.

bool ManipulationTransformsROS::loadParamServerTransforms ( const ros::NodeHandle & nh ) [private]

Load rigid grasp transforms from parameter server.

Parameters:

nh	Nodehandle to query for params
n_effectors	The number of effectors to look for
warn	Warn the user if params are not found

Definition at line 377 of file manipulation_transforms_ros.cpp.

bool ManipulationTransformsROS::mapEffectorPosesToObject	(	manipulation_transforms::MapEffectorPosesToObject::Request &	req,
		manipulation_transforms::MapEffectorPosesToObject::Response &	resp
	)

Provides the service interface to mapEffectorPosesToObject.

Definition at line 190 of file manipulation_transforms_ros.cpp.

bool ManipulationTransformsROS::mapEffectorTrajectoriesToObject	(	manipulation_transforms::MapEffectorTrajectoriesToObject::Request &	req,
		manipulation_transforms::MapEffectorTrajectoriesToObject::Response &	resp
	)

Provides the service interface for getting a full object trajectory from effector trajectories.

Provides the service interface for getting an object trajectory from effector trajectories.

The service response will include solutions for the object for any of the fields provided in the sequence of trajectory points

Definition at line 345 of file manipulation_transforms_ros.cpp.

bool ManipulationTransformsROS::mapEffectorTwistsToObject	(	manipulation_transforms::MapEffectorTwistsToObject::Request &	req,
		manipulation_transforms::MapEffectorTwistsToObject::Response &	resp
	)

Provides the service interface to mapEffectorTwistsToObject.

Definition at line 262 of file manipulation_transforms_ros.cpp.

bool ManipulationTransformsROS::mapObjectPoseToEffectors	(	manipulation_transforms::MapObjectPoseToEffectors::Request &	req,
		manipulation_transforms::MapObjectPoseToEffectors::Response &	resp
	)

Provides the service interface to mapObjectPoseToEffectors.

Definition at line 226 of file manipulation_transforms_ros.cpp.

bool ManipulationTransformsROS::mapObjectTrajectoryToEffectors	(	manipulation_transforms::MapObjectTrajectoryToEffectors::Request &	req,
		manipulation_transforms::MapObjectTrajectoryToEffectors::Response &	resp
	)

Provides the service interface for getting full effector trajectories from an object trajectory.

Provides the service interface for getting effector trajectories from an object trajectory.

The service response will include solutions for all effectors for any of the fields provided in the sequence of trajectory points

Definition at line 335 of file manipulation_transforms_ros.cpp.

bool ManipulationTransformsROS::mapObjectTwistToEffectors	(	manipulation_transforms::MapObjectTwistToEffectors::Request &	req,
		manipulation_transforms::MapObjectTwistToEffectors::Response &	resp
	)

Provides the service interface to mapObjectTwistToEffectors.

Definition at line 298 of file manipulation_transforms_ros.cpp.

bool ManipulationTransformsROS::setInitialTransforms	(	manipulation_transforms::SetInitialTransforms::Request &	req,
		manipulation_transforms::SetInitialTransforms::Response &	resp
	)