#include <RobotNavigator.h>
Definition at line 96 of file RobotNavigator.h.
typedef boost::shared_ptr<RobotNavigator> RobotNavigator::Ptr |
Definition at line 100 of file RobotNavigator.h.
Definition at line 54 of file RobotNavigator.cpp.
RobotNavigator::~RobotNavigator | ( | ) | [virtual] |
Definition at line 70 of file RobotNavigator.cpp.
void RobotNavigator::addDetectedObjectToLocalPlanningScene | ( | arm_navigation_msgs::CollisionObject & | obj | ) | [protected] |
Definition at line 574 of file RobotNavigator.cpp.
void RobotNavigator::addDetectedObjectToLocalPlanningScene | ( | const household_objects_database_msgs::DatabaseModelPoseList & | model | ) | [protected] |
Definition at line 580 of file RobotNavigator.cpp.
void RobotNavigator::addDetectedTableToLocalPlanningScene | ( | const tabletop_object_detector::Table & | table | ) | [protected] |
Definition at line 532 of file RobotNavigator.cpp.
void RobotNavigator::addMarker | ( | std::string | name, |
visualization_msgs::Marker & | marker | ||
) | [protected] |
Definition at line 1328 of file RobotNavigator.cpp.
void RobotNavigator::addMarker | ( | std::string | name, |
visualization_msgs::MarkerArray & | marker | ||
) | [protected] |
Definition at line 1342 of file RobotNavigator.cpp.
bool RobotNavigator::attachCollisionObject | ( | const std::string & | group_name, |
const std::string & | collision_object_name, | ||
const object_manipulation_msgs::Grasp & | grasp | ||
) | [protected] |
Definition at line 1665 of file RobotNavigator.cpp.
void RobotNavigator::attachCollisionObjectCallback | ( | const std::string & | group_name | ) | [protected] |
Definition at line 1380 of file RobotNavigator.cpp.
bool RobotNavigator::attemptGraspSequence | ( | const std::string & | group_name, |
const object_manipulator::GraspExecutionInfo & | gei, | ||
bool | performRecoveryMove = true |
||
) | [protected, virtual] |
Definition at line 1398 of file RobotNavigator.cpp.
bool RobotNavigator::attemptPlaceSequence | ( | const std::string & | group_name, |
const object_manipulator::PlaceExecutionInfo & | pei | ||
) | [protected, virtual] |
Definition at line 1555 of file RobotNavigator.cpp.
void RobotNavigator::callbackPublishMarkers | ( | const ros::TimerEvent & | evnt | ) | [protected, virtual] |
Definition at line 1370 of file RobotNavigator.cpp.
void RobotNavigator::collisionObjToMarker | ( | const arm_navigation_msgs::CollisionObject & | obj, |
visualization_msgs::Marker & | marker | ||
) | [protected] |
Definition at line 1782 of file RobotNavigator.cpp.
virtual bool RobotNavigator::createCandidateGoalPoses | ( | std::vector< geometry_msgs::PoseStamped > & | placePoses | ) | [protected, pure virtual] |
bool RobotNavigator::createPickMoveSequence | ( | const object_manipulation_msgs::PickupGoal & | pickupGoal, |
const std::vector< object_manipulation_msgs::Grasp > & | grasps_candidates, | ||
std::vector< object_manipulator::GraspExecutionInfo > & | grasp_sequence, | ||
std::vector< object_manipulation_msgs::Grasp > & | valid_grasps | ||
) | [protected, virtual] |
Definition at line 1160 of file RobotNavigator.cpp.
bool RobotNavigator::createPlaceMoveSequence | ( | const object_manipulation_msgs::PlaceGoal & | placeGoal, |
const std::vector< geometry_msgs::PoseStamped > & | place_poses, | ||
std::vector< object_manipulator::PlaceExecutionInfo > & | place_sequence | ||
) | [protected, virtual] |
Definition at line 1190 of file RobotNavigator.cpp.
bool RobotNavigator::detachCollisionObject | ( | const std::string & | group_name, |
const geometry_msgs::PoseStamped & | place_pose, | ||
const object_manipulation_msgs::Grasp & | grasp | ||
) | [protected] |
Definition at line 1739 of file RobotNavigator.cpp.
void RobotNavigator::detachCollisionObjectCallback | ( | const std::string & | group_name | ) | [protected] |
Definition at line 1388 of file RobotNavigator.cpp.
void RobotNavigator::fetchParameters | ( | std::string | nameSpace = "" | ) | [protected, virtual] |
Definition at line 27 of file RobotNavigator.cpp.
const arm_navigation_msgs::CollisionObject * RobotNavigator::getCollisionObject | ( | unsigned int | model_id | ) | [protected] |
Definition at line 1841 of file RobotNavigator.cpp.
trajectory_msgs::JointTrajectory RobotNavigator::getGripperTrajectory | ( | int | graspMove = object_manipulation_msgs::GraspHandPostureExecutionGoal::GRASP | ) | [protected, virtual] |
Definition at line 1652 of file RobotNavigator.cpp.
std::vector< std::string > RobotNavigator::getJointNames | ( | const std::string & | group | ) | [protected, virtual] |
Definition at line 231 of file RobotNavigator.cpp.
visualization_msgs::Marker & RobotNavigator::getMarker | ( | std::string | name | ) | [protected] |
Definition at line 1365 of file RobotNavigator.cpp.
bool RobotNavigator::getMeshFromDatabasePose | ( | const household_objects_database_msgs::DatabaseModelPose & | model_pose, |
arm_navigation_msgs::CollisionObject & | obj, | ||
const geometry_msgs::PoseStamped & | pose | ||
) | [protected] |
Definition at line 732 of file RobotNavigator.cpp.
bool RobotNavigator::hasMarker | ( | std::string | name | ) | [protected] |
Definition at line 1353 of file RobotNavigator.cpp.
std::string RobotNavigator::makeCollisionObjectNameFromModelId | ( | unsigned int | model_id | ) | [static, protected] |
Definition at line 1834 of file RobotNavigator.cpp.
bool RobotNavigator::moveArm | ( | const std::string & | group_name, |
const std::vector< double > & | joint_positions | ||
) | [protected, virtual] |
Definition at line 290 of file RobotNavigator.cpp.
bool RobotNavigator::moveArmThroughPickSequence | ( | ) | [protected, virtual] |
Definition at line 1220 of file RobotNavigator.cpp.
bool RobotNavigator::moveArmThroughPlaceSequence | ( | ) | [protected, virtual] |
Definition at line 1288 of file RobotNavigator.cpp.
bool RobotNavigator::moveArmToSide | ( | ) | [protected, virtual] |
Definition at line 516 of file RobotNavigator.cpp.
bool RobotNavigator::performGraspPlanning | ( | ) | [protected, virtual] |
Definition at line 977 of file RobotNavigator.cpp.
bool RobotNavigator::performPickGraspPlanning | ( | ) | [protected, virtual] |
Definition at line 788 of file RobotNavigator.cpp.
bool RobotNavigator::performPlaceGraspPlanning | ( | ) | [protected, virtual] |
Definition at line 902 of file RobotNavigator.cpp.
bool RobotNavigator::performRecognition | ( | ) | [protected, virtual] |
Definition at line 649 of file RobotNavigator.cpp.
bool RobotNavigator::performSegmentation | ( | ) | [protected, virtual] |
Definition at line 600 of file RobotNavigator.cpp.
bool RobotNavigator::performTrajectoryFiltering | ( | const std::string & | group_name, |
trajectory_msgs::JointTrajectory & | jt | ||
) | [protected, virtual] |
Definition at line 470 of file RobotNavigator.cpp.
void RobotNavigator::printJointTrajectory | ( | const trajectory_msgs::JointTrajectory & | jt | ) | [protected] |
Definition at line 424 of file RobotNavigator.cpp.
void RobotNavigator::printTiming | ( | ) | [protected] |
Definition at line 1823 of file RobotNavigator.cpp.
void RobotNavigator::revertPlanningScene | ( | ) | [protected] |
Definition at line 218 of file RobotNavigator.cpp.
void RobotNavigator::run | ( | void | ) | [virtual] |
Definition at line 1850 of file RobotNavigator.cpp.
void RobotNavigator::setup | ( | void | ) | [protected, virtual] |
Definition at line 75 of file RobotNavigator.cpp.
void RobotNavigator::startCycleTimer | ( | ) | [protected] |
Definition at line 1812 of file RobotNavigator.cpp.
bool RobotNavigator::trajectoryFinishedCallback | ( | bool | storeLastTraj, |
TrajectoryExecutionDataVector | tedv | ||
) | [protected, virtual] |
Definition at line 186 of file RobotNavigator.cpp.
bool RobotNavigator::updateChangesToPlanningScene | ( | ) | [protected] |
Definition at line 256 of file RobotNavigator.cpp.
void RobotNavigator::updateCurrentJointStateToLastTrajectoryPoint | ( | const trajectory_msgs::JointTrajectory & | traj | ) | [protected] |
Definition at line 239 of file RobotNavigator.cpp.
bool RobotNavigator::validateJointTrajectory | ( | trajectory_msgs::JointTrajectory & | jt | ) | [protected] |
Definition at line 394 of file RobotNavigator.cpp.
tf::TransformListener RobotNavigator::_TfListener [protected] |
Definition at line 310 of file RobotNavigator.h.
boost::shared_ptr<TrajectoryControllerHandler> RobotNavigator::arm_controller_handler_ [protected] |
Definition at line 239 of file RobotNavigator.h.
std::string RobotNavigator::arm_group_name_ [protected] |
Definition at line 314 of file RobotNavigator.h.
Definition at line 300 of file RobotNavigator.h.
Definition at line 217 of file RobotNavigator.h.
std::map<std::string, object_manipulation_msgs::Grasp> RobotNavigator::current_grasp_map_ [protected] |
Definition at line 278 of file RobotNavigator.h.
std::map<std::string, std::string> RobotNavigator::current_grasped_object_name_ [protected] |
Definition at line 277 of file RobotNavigator.h.
geometry_msgs::PoseStamped RobotNavigator::current_place_location_ [protected] |
Definition at line 288 of file RobotNavigator.h.
Definition at line 257 of file RobotNavigator.h.
unsigned int RobotNavigator::current_planning_scene_id_ [protected] |
Definition at line 220 of file RobotNavigator.h.
Definition at line 259 of file RobotNavigator.h.
ros::WallTime RobotNavigator::cycle_start_time_ [protected] |
Definition at line 291 of file RobotNavigator.h.
boost::condition_variable RobotNavigator::execution_completed_ [protected] |
Definition at line 261 of file RobotNavigator.h.
ros::WallDuration RobotNavigator::execution_duration_ [protected] |
Definition at line 292 of file RobotNavigator.h.
boost::mutex RobotNavigator::execution_mutex_ [protected] |
Definition at line 262 of file RobotNavigator.h.
boost::function<bool(TrajectoryExecutionDataVector)> RobotNavigator::grasp_action_finished_function_ [protected] |
Definition at line 244 of file RobotNavigator.h.
std::string RobotNavigator::grasp_action_service_ [protected] |
Definition at line 322 of file RobotNavigator.h.
std::vector<object_manipulation_msgs::Grasp> RobotNavigator::grasp_candidates_ [protected] |
Definition at line 281 of file RobotNavigator.h.
boost::shared_ptr<GraspActionServerClient> RobotNavigator::grasp_exec_action_client_ [protected] |
Definition at line 249 of file RobotNavigator.h.
std::vector<object_manipulator::GraspExecutionInfo> RobotNavigator::grasp_pick_sequence_ [protected] |
Definition at line 284 of file RobotNavigator.h.
Definition at line 279 of file RobotNavigator.h.
Definition at line 280 of file RobotNavigator.h.
std::vector<object_manipulator::PlaceExecutionInfo> RobotNavigator::grasp_place_sequence_ [protected] |
Definition at line 285 of file RobotNavigator.h.
Definition at line 233 of file RobotNavigator.h.
Definition at line 297 of file RobotNavigator.h.
std::string RobotNavigator::grasp_planning_service_ [protected] |
Definition at line 330 of file RobotNavigator.h.
boost::shared_ptr<GraspSequenceValidator> RobotNavigator::grasp_tester_ [protected] |
Definition at line 254 of file RobotNavigator.h.
boost::shared_ptr<TrajectoryControllerHandler> RobotNavigator::gripper_controller_handler_ [protected] |
Definition at line 240 of file RobotNavigator.h.
std::string RobotNavigator::gripper_group_name_ [protected] |
Definition at line 315 of file RobotNavigator.h.
std::string RobotNavigator::gripper_link_name_ [protected] |
Definition at line 319 of file RobotNavigator.h.
std::string RobotNavigator::ik_plugin_name_ [protected] |
Definition at line 337 of file RobotNavigator.h.
boost::shared_ptr<TrajectoryRecorder> RobotNavigator::joint_state_recorder_ [protected] |
Definition at line 238 of file RobotNavigator.h.
std::string RobotNavigator::joint_states_topic_ [protected] |
Definition at line 334 of file RobotNavigator.h.
unsigned int RobotNavigator::last_mpr_id_ [protected] |
Definition at line 221 of file RobotNavigator.h.
Definition at line 225 of file RobotNavigator.h.
std::string RobotNavigator::MARKER_ARM_LINK = "arm_links" [static] |
Definition at line 111 of file RobotNavigator.h.
Definition at line 303 of file RobotNavigator.h.
std::string RobotNavigator::MARKER_ATTACHED_OBJECT = "attached_object" [static] |
Definition at line 112 of file RobotNavigator.h.
std::map<std::string,visualization_msgs::Marker> RobotNavigator::marker_map_ [protected] |
Definition at line 308 of file RobotNavigator.h.
ros::Timer RobotNavigator::marker_pub_timer_ [protected] |
Definition at line 307 of file RobotNavigator.h.
ros::Publisher RobotNavigator::marker_publisher_ [protected] |
Definition at line 304 of file RobotNavigator.h.
unsigned int RobotNavigator::max_mpr_id_ [protected] |
Definition at line 222 of file RobotNavigator.h.
unsigned int RobotNavigator::max_trajectory_id_ [protected] |
Definition at line 223 of file RobotNavigator.h.
std::string RobotNavigator::mesh_database_service_ [protected] |
Definition at line 331 of file RobotNavigator.h.
std::string RobotNavigator::model_database_service_ [protected] |
Definition at line 332 of file RobotNavigator.h.
Definition at line 295 of file RobotNavigator.h.
std::string RobotNavigator::NAVIGATOR_NAMESPACE = "navigator" [static] |
Definition at line 110 of file RobotNavigator.h.
std::string RobotNavigator::NODE_NAME = "robot_pick_place" [static] |
Definition at line 109 of file RobotNavigator.h.
Definition at line 234 of file RobotNavigator.h.
Definition at line 232 of file RobotNavigator.h.
std::map<std::string, bool> RobotNavigator::object_in_hand_map_ [protected] |
Definition at line 276 of file RobotNavigator.h.
std::string RobotNavigator::path_planner_service_ [protected] |
Definition at line 326 of file RobotNavigator.h.
Definition at line 293 of file RobotNavigator.h.
double RobotNavigator::pick_approach_distance_ [protected] |
Definition at line 340 of file RobotNavigator.h.
double RobotNavigator::place_approach_distance_ [protected] |
Definition at line 341 of file RobotNavigator.h.
const tf::Transform RobotNavigator::PLACE_RECTIFICATION_TF [static] |
tf::Transform( tf::Quaternion(tf::Vector3(1.0f,0.0f,0.0f),M_PI),tf::Vector3(0.0f,0.0f,0.0f))
Definition at line 116 of file RobotNavigator.h.
double RobotNavigator::place_retreat_distance_ [protected] |
Definition at line 342 of file RobotNavigator.h.
boost::shared_ptr<PlaceSequenceValidator> RobotNavigator::place_tester_ [protected] |
Definition at line 255 of file RobotNavigator.h.
Definition at line 258 of file RobotNavigator.h.
Definition at line 294 of file RobotNavigator.h.
std::string RobotNavigator::planning_scene_service_ [protected] |
Definition at line 333 of file RobotNavigator.h.
Definition at line 230 of file RobotNavigator.h.
ros::ServiceClient RobotNavigator::rec_srv_ [protected] |
Definition at line 229 of file RobotNavigator.h.
std::string RobotNavigator::recognition_service_ [protected] |
Definition at line 329 of file RobotNavigator.h.
household_objects_database_msgs::GetModelDescription::Response RobotNavigator::recognized_model_description_ [protected] |
Definition at line 273 of file RobotNavigator.h.
std::vector<household_objects_database_msgs::DatabaseModelPoseList> RobotNavigator::recognized_models_ [protected] |
Definition at line 272 of file RobotNavigator.h.
std::map<std::string, geometry_msgs::PoseStamped> RobotNavigator::recognized_obj_pose_map_ [protected] |
Definition at line 271 of file RobotNavigator.h.
ros::ServiceClient RobotNavigator::seg_srv_ [protected] |
Definition at line 228 of file RobotNavigator.h.
tabletop_object_detector::TabletopSegmentation::Response RobotNavigator::segmentation_results_ [protected] |
Definition at line 266 of file RobotNavigator.h.
std::string RobotNavigator::segmentation_service_ [protected] |
Definition at line 328 of file RobotNavigator.h.
std::vector<sensor_msgs::PointCloud> RobotNavigator::segmented_clusters_ [protected] |
Definition at line 267 of file RobotNavigator.h.
Definition at line 235 of file RobotNavigator.h.
Definition at line 268 of file RobotNavigator.h.
boost::function<bool(TrajectoryExecutionDataVector)> RobotNavigator::trajectories_finished_function_ [protected] |
Definition at line 243 of file RobotNavigator.h.
bool RobotNavigator::trajectories_succeeded_ [protected] |
Definition at line 263 of file RobotNavigator.h.
std::string RobotNavigator::trajectory_action_service_ [protected] |
Definition at line 323 of file RobotNavigator.h.
trajectory_execution_monitor::TrajectoryExecutionMonitor RobotNavigator::trajectory_execution_monitor_ [protected] |
Definition at line 242 of file RobotNavigator.h.
std::string RobotNavigator::trajectory_filter_service_ [protected] |
Definition at line 327 of file RobotNavigator.h.
Definition at line 231 of file RobotNavigator.h.
Definition at line 296 of file RobotNavigator.h.
std::string RobotNavigator::VISUALIZATION_TOPIC = "visualization_markers" [static] |
Definition at line 113 of file RobotNavigator.h.
std::string RobotNavigator::wrist_link_name_ [protected] |
Definition at line 318 of file RobotNavigator.h.