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bayesian_grasp_planner::BayesianGraspPlanner Class Reference

#include <bayesian_grasp_planner.h>

List of all members.

Public Member Functions

 BayesianGraspPlanner (household_objects_database::ObjectsDatabasePtr database)
void bayesianInference (std::vector< GraspWM > &grasps, const std::vector< object_manipulation_msgs::GraspableObject > &objects, const std::vector< boost::shared_ptr< ObjectDetector > > &object_detectors, const std::vector< boost::shared_ptr< GraspEvaluatorProb > > &prob_evaluators)
void plan (const std::string &arm_name, const object_manipulation_msgs::GraspableObject &graspable_object, std::vector< object_manipulation_msgs::Grasp > &final_grasp_list)

Private Member Functions

void appendMetadataToTestGrasps (std::vector< object_manipulation_msgs::Grasp > &input_list, std::vector< GraspWM > &output_list, const std::string frame_id)
void clusterGrasps (std::vector< GraspWM > &input_list, std::vector< GraspWM > &cluster_rep_list)
void createDatabaseObjectDetectors (const std::vector< object_manipulation_msgs::GraspableObject > &objects, std::vector< boost::shared_ptr< ObjectDetector > > &detectors)
void createMutuallyExclusiveObjectRepresentations (const object_manipulation_msgs::GraspableObject &original_object, std::vector< object_manipulation_msgs::GraspableObject > &me_objects)
void pruneGraspList (std::vector< GraspWM > &grasps, const double threshold)
void visualizeGrasps (const std::vector< GraspWM > &grasps, object_manipulator::GraspMarkerPublisher *grasp_marker_pub, bool color_by_rank)

Private Attributes

household_objects_database::ObjectsDatabasePtr database_
object_manipulator::GraspMarkerPublisher debug_postprune_grasp_marker_publisher_
 GMP for grasps after pruning but before clustering.
object_manipulator::GraspMarkerPublisher debug_preprune_grasp_marker_publisher_
 GMP for grasps before pruning.
object_manipulator::GraspMarkerPublisher grasp_marker_publisher_
 GMP which shows the grasps returned by the planner, colored by probability.
ros::NodeHandle nh_

Detailed Description

Definition at line 52 of file bayesian_grasp_planner.h.


Constructor & Destructor Documentation

Definition at line 93 of file bayesian_grasp_planner.h.


Member Function Documentation

void bayesian_grasp_planner::BayesianGraspPlanner::appendMetadataToTestGrasps ( std::vector< object_manipulation_msgs::Grasp > &  input_list,
std::vector< GraspWM > &  output_list,
const std::string  frame_id 
) [private]

The "tool point" is roughly in the middle of the object enclosed by the grasp, so roughly 13cm from wrist

Definition at line 467 of file bayesian_grasp_planner.cpp.

void bayesian_grasp_planner::BayesianGraspPlanner::bayesianInference ( std::vector< GraspWM > &  grasps,
const std::vector< object_manipulation_msgs::GraspableObject > &  objects,
const std::vector< boost::shared_ptr< ObjectDetector > > &  object_detectors,
const std::vector< boost::shared_ptr< GraspEvaluatorProb > > &  prob_evaluators 
)

Definition at line 46 of file bayesian_grasp_planner.cpp.

void bayesian_grasp_planner::BayesianGraspPlanner::clusterGrasps ( std::vector< GraspWM > &  input_list,
std::vector< GraspWM > &  cluster_rep_list 
) [private]

Definition at line 500 of file bayesian_grasp_planner.cpp.

void bayesian_grasp_planner::BayesianGraspPlanner::createDatabaseObjectDetectors ( const std::vector< object_manipulation_msgs::GraspableObject > &  objects,
std::vector< boost::shared_ptr< ObjectDetector > > &  detectors 
) [private]

Definition at line 440 of file bayesian_grasp_planner.cpp.

Definition at line 418 of file bayesian_grasp_planner.cpp.

void bayesian_grasp_planner::BayesianGraspPlanner::plan ( const std::string &  arm_name,
const object_manipulation_msgs::GraspableObject graspable_object,
std::vector< object_manipulation_msgs::Grasp > &  final_grasp_list 
)

Definition at line 227 of file bayesian_grasp_planner.cpp.

void bayesian_grasp_planner::BayesianGraspPlanner::pruneGraspList ( std::vector< GraspWM > &  grasps,
const double  threshold 
) [private]

Definition at line 538 of file bayesian_grasp_planner.cpp.

void bayesian_grasp_planner::BayesianGraspPlanner::visualizeGrasps ( const std::vector< GraspWM > &  grasps,
object_manipulator::GraspMarkerPublisher grasp_marker_pub,
bool  color_by_rank 
) [private]

Publishes the grasps to rviz with specific namespaces for grasps belonging to each different model, colored with green being the best grasp and red being the worst.

Definition at line 560 of file bayesian_grasp_planner.cpp.


Member Data Documentation

Definition at line 58 of file bayesian_grasp_planner.h.

GMP for grasps after pruning but before clustering.

Definition at line 64 of file bayesian_grasp_planner.h.

GMP for grasps before pruning.

Definition at line 61 of file bayesian_grasp_planner.h.

GMP which shows the grasps returned by the planner, colored by probability.

Definition at line 67 of file bayesian_grasp_planner.h.

Definition at line 56 of file bayesian_grasp_planner.h.


The documentation for this class was generated from the following files:
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bayesian_grasp_planner
Author(s): Kaijen Hsiao and Matei Ciocarlie
autogenerated on Fri Jan 25 2013 15:02:36