probabilistic_grasp_planner::GSPCServiceCaller Class Reference

Simply calls the grasp planning service with a given name. More...

#include <grasp_success_probability_computer.h>

Inheritance diagram for probabilistic_grasp_planner::GSPCServiceCaller:

List of all members.

Public Member Functions
virtual void	getProbabilities (const std::vector< GraspWithMetadata > &grasps, std::vector< double > &probabilities)
	Calls the grasp planning service for all grasps at the same time.
virtual double	getProbability (const GraspWithMetadata &grasp)
	Simply calls the grasp planning service.
	GSPCServiceCaller (std::string service_name, const object_manipulation_msgs::GraspableObject &target)
	Initializes service client and waits for it to become available.
Private Attributes
ServiceWrapper < object_manipulation_msgs::GraspPlanning >	client_
	The service client used to answer calls.
ros::NodeHandle	priv_nh_
	Node handle in the private namespace.
ros::NodeHandle	root_nh_
	Node handle in the root namespace.
std::string	service_name_
	Remembers the name of the service.
object_manipulation_msgs::GraspableObject	target_
	The object that success is computed on.

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Detailed Description

Simply calls the grasp planning service with a given name.

Definition at line 100 of file grasp_success_probability_computer.h.

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Constructor & Destructor Documentation

probabilistic_grasp_planner::GSPCServiceCaller::GSPCServiceCaller	(	std::string	service_name,
		const object_manipulation_msgs::GraspableObject &	target
	)

Initializes service client and waits for it to become available.

Definition at line 63 of file grasp_success_probability_computer.cpp.

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Member Function Documentation

void probabilistic_grasp_planner::GSPCServiceCaller::getProbabilities	(	const std::vector< GraspWithMetadata > &	grasps,
		std::vector< double > &	probabilities
	)		[virtual]

Calls the grasp planning service for all grasps at the same time.

Reimplemented from probabilistic_grasp_planner::GraspSuccessProbabilityComputer.

Definition at line 87 of file grasp_success_probability_computer.cpp.

double probabilistic_grasp_planner::GSPCServiceCaller::getProbability

(

const GraspWithMetadata &

grasp

)

[virtual]

Simply calls the grasp planning service.

Implements probabilistic_grasp_planner::GraspSuccessProbabilityComputer.

Definition at line 73 of file grasp_success_probability_computer.cpp.

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Member Data Documentation

ServiceWrapper<object_manipulation_msgs::GraspPlanning> probabilistic_grasp_planner::GSPCServiceCaller::client_ [private]

The service client used to answer calls.

Definition at line 107 of file grasp_success_probability_computer.h.

ros::NodeHandle probabilistic_grasp_planner::GSPCServiceCaller::priv_nh_ [private]

Node handle in the private namespace.

Definition at line 113 of file grasp_success_probability_computer.h.

ros::NodeHandle probabilistic_grasp_planner::GSPCServiceCaller::root_nh_ [private]

Node handle in the root namespace.

Definition at line 116 of file grasp_success_probability_computer.h.

std::string probabilistic_grasp_planner::GSPCServiceCaller::service_name_ [private]

Remembers the name of the service.

Definition at line 104 of file grasp_success_probability_computer.h.

object_manipulation_msgs::GraspableObject probabilistic_grasp_planner::GSPCServiceCaller::target_ [private]

The object that success is computed on.

Definition at line 110 of file grasp_success_probability_computer.h.

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The documentation for this class was generated from the following files:

• grasp_success_probability_computer.h
• grasp_success_probability_computer.cpp