Public Member Functions | Protected Attributes | List of all members
Moveit_grasp_mediator Class Reference

#include <moveit_grasp_mediator.h>

Inheritance diagram for Moveit_grasp_mediator:
Inheritance graph
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Public Member Functions

void connect_robots (Abstract_robot *robot) override
 
bool generateRandomCuboid (std::string &object_name, geometry_msgs::Pose &object_pose, double &x_depth, double &y_width, double &z_height)
 
bool getIKSolution (const moveit::core::JointModelGroup *arm_jmg, const Eigen::Isometry3d &target_pose, robot_state::RobotState &solution, const std::string &link_name)
 
bool isStateValid (const planning_scene::PlanningScene *planning_scene, const moveit_visual_tools::MoveItVisualToolsPtr &visual_tools, robot_state::RobotState *robot_state, const robot_model::JointModelGroup *group, const double *ik_solution)
 
void manipulate_grasp_data (Moveit_robot *robot)
 
void manipulate_mapspace (tf2::Transform &tf, tf2::Vector3 &size)
 
void mediate () override
 
 Moveit_grasp_mediator (std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub, std::shared_ptr< ros::NodeHandle > const &nh)
 
bool planFullGrasp (std::vector< moveit_grasps::GraspCandidatePtr > &grasp_candidates, moveit_grasps::GraspCandidatePtr &valid_grasp_candidate, moveit_msgs::MotionPlanResponse &pre_approach_plan, const std::string &object_name)
 
bool planPreApproach (const robot_state::RobotState &goal_state, moveit_msgs::MotionPlanResponse &pre_approach_plan)
 
void scene_setup ()
 
void visualizePick (const moveit_grasps::GraspCandidatePtr &valid_grasp_candidate, const moveit_msgs::MotionPlanResponse &pre_approach_plan)
 
void waitForNextStep (const moveit_visual_tools::MoveItVisualToolsPtr &visual_tools, const std::string &prompt)
 
- Public Member Functions inherited from Moveit_mediator
void build_wings (std::bitset< 3 > &wing, int &robot) override
 
bool check_collision (const int &robot) override
 
void connect_robots (Abstract_robot *robot) override
 
moveit::task_constructor::Task create_Task (Moveit_robot *r, moveit_msgs::CollisionObject &source, tf2::Transform &target)
 
void mediate () override
 
void merge_acm (moveit_msgs::PlanningScene &in)
 
void merge_ps (moveit_msgs::PlanningScene &out, moveit_msgs::PlanningScene *in, Moveit_robot *mr)
 
std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi ()
 
 Moveit_mediator (std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub, std::shared_ptr< ros::NodeHandle > const &nh)
 
void parallel_exec (Moveit_robot &r, moveit_msgs::RobotTrajectory rt, moveit_msgs::PlanningScene ps)
 
void publish_tables ()
 
void rewrite_task_template (Abstract_robot *r, moveit_msgs::CollisionObject &source, tf2::Transform &target)
 
void set_tasks (std::multimap< std::string, std::pair< tf2::Vector3, std::queue< moveit_task_constructor_msgs::ExecuteTaskSolutionGoal >>> &tasks)
 
void set_wings (std::vector< std::pair< std::vector< object_data >, int >> &wbp) override
 
void setup_task ()
 
std::map< std::string, std::vector< moveit::task_constructor::Task > > & task_map ()
 
void task_planner ()
 
- Public Member Functions inherited from Abstract_mediator
 Abstract_mediator (std::shared_ptr< ros::NodeHandle > const &d)
 Abstract mediator constructor. More...
 
 Abstract_mediator (std::vector< std::vector< tf2::Transform >> objects, ros::Publisher *pub)
 
virtual void connect_robots (std::unique_ptr< Abstract_robot_decorator > robot)=0
 pure virtual robot connecting methode More...
 
std::string & dirname ()
 
std::string & dirname ()
 Get dirname. More...
 
std::vector< pcl::PointXYZ > generate_Ground (const tf2::Vector3 origin, const float diameter, float resolution)
 
std::vector< std::vector< pcl::PointXYZ > > & result_vector ()
 
std::map< const std::string, std::vector< pcl::PointXYZ > > & result_vector ()
 Get result_vector. More...
 
std::vector< Abstract_robot * > robots ()
 
std::vector< std::unique_ptr< Abstract_robot_decorator > > & robots ()
 Get robots. More...
 
void set_dirname (std::string &dirn)
 
void set_dirname (std::string &dirn)
 Set dirname. More...
 
void set_result_vector (std::map< const std::string, std::vector< pcl::PointXYZ >> &res)
 Set result vector. More...
 
void set_result_vector (std::vector< std::vector< pcl::PointXYZ >> &res)
 
pcl::PointCloud< pcl::PointXYZ >::Ptr vector_to_cloud (std::vector< pcl::PointXYZ > &vector)
 
pcl::PointCloud< pcl::PointXYZ >::Ptr vector_to_cloud (std::vector< pcl::PointXYZ > &vector)
 Cloud converter. More...
 
std::vector< std::vector< Abstract_robot_element * > > wings ()
 
std::map< const std::string, std::vector< std::unique_ptr< Abstract_robot_element > > > & wings ()
 Get wings. More...
 

Protected Attributes

std::unique_ptr< Abstract_param_readercuboid_reader_
 
std::vector< GraspMap > grasp_maps_
 
std::string grasp_ns_
 
std::unique_ptr< Job_readerjob_reader_
 
std::shared_ptr< planning_pipeline::PlanningPipeline > planning_pipeline_
 
std::unique_ptr< Robot_readerrobot_reader_
 
boost::dynamic_bitset voxel_environment_
 
std::shared_ptr< VoxelManager > voxel_manager_
 
std::unique_ptr< Abstract_param_readerwing_reader_
 
- Protected Attributes inherited from Moveit_mediator
std::map< std::string, std::vector< uint8_t > > acm_
 
std::shared_ptr< moveit::task_constructor::solvers::CartesianPath > cartesian_planner_
 
std::unique_ptr< Cuboid_readercuboid_reader_
 
std::unique_ptr< Job_readerjob_reader_
 
std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi_
 
std::shared_ptr< ros::NodeHandle > nh_
 
std::shared_ptr< ros::Publisher > planning_scene_diff_publisher_
 
std::shared_ptr< planning_scene_monitor::PlanningSceneMonitor > planning_scene_monitor_
 
std::shared_ptr< planning_scene::PlanningScene > ps_
 
std::unique_ptr< moveit::planning_interface::PlanningSceneInterface > psi_
 
std::shared_ptr< moveit::core::RobotModel > robot_model_
 
std::shared_ptr< moveit::task_constructor::solvers::PipelinePlanner > sampling_planner_
 
std::map< std::string, std::vector< moveit::task_constructor::Task > > task_map_
 
std::multimap< std::string, std::pair< tf2::Vector3, std::queue< moveit_task_constructor_msgs::ExecuteTaskSolutionGoal > > > tasks_
 
std::shared_ptr< moveit_visual_tools::MoveItVisualTools > visual_tools_
 
- Protected Attributes inherited from Abstract_mediator
std::string dirname_
 Dirname of the reference protobuff. More...
 
std::shared_ptr< ros::NodeHandle > nh_
 Ros nodehandle object. More...
 
std::vector< std::vector< tf2::Transform > > objects_
 
ros::Publisher * pub_
 
std::vector< std::vector< std::vector< tf2::Transform > > > relative_bounds_
 total bound a workspace More...
 
std::vector< std::vector< pcl::PointXYZ > > result_vector_
 
std::map< const std::string, std::vector< pcl::PointXYZ > > result_vector_
 Result_vector of base positions linked to robot. More...
 
std::vector< Abstract_robot * > robots_
 
std::vector< std::unique_ptr< Abstract_robot_decorator > > robots_
 Robots agents. More...
 
std::unique_ptr< Ts_readertask_space_reader_
 Task_space reader which provides drop off positions. More...
 
std::vector< std::vector< Abstract_robot_element * > > wings_
 
std::map< const std::string, std::vector< std::unique_ptr< Abstract_robot_element > > > wings_
 

Detailed Description

Definition at line 23 of file moveit_grasp_mediator.h.

Constructor & Destructor Documentation

◆ Moveit_grasp_mediator()

Moveit_grasp_mediator::Moveit_grasp_mediator ( std::vector< std::vector< tf2::Transform >>  objects,
ros::Publisher *  pub,
std::shared_ptr< ros::NodeHandle > const &  nh 
)

Definition at line 525 of file moveit_grasp_mediator.cpp.

Member Function Documentation

◆ connect_robots()

void Moveit_grasp_mediator::connect_robots ( Abstract_robot robot)
overridevirtual

Implements Abstract_mediator.

Definition at line 8 of file moveit_grasp_mediator.cpp.

◆ generateRandomCuboid()

bool Moveit_grasp_mediator::generateRandomCuboid ( std::string &  object_name,
geometry_msgs::Pose &  object_pose,
double &  x_depth,
double &  y_width,
double &  z_height 
)

Definition at line 108 of file moveit_grasp_mediator.cpp.

◆ getIKSolution()

bool Moveit_grasp_mediator::getIKSolution ( const moveit::core::JointModelGroup *  arm_jmg,
const Eigen::Isometry3d &  target_pose,
robot_state::RobotState &  solution,
const std::string &  link_name 
)

Definition at line 483 of file moveit_grasp_mediator.cpp.

◆ isStateValid()

bool Moveit_grasp_mediator::isStateValid ( const planning_scene::PlanningScene *  planning_scene,
const moveit_visual_tools::MoveItVisualToolsPtr &  visual_tools,
robot_state::RobotState *  robot_state,
const robot_model::JointModelGroup *  group,
const double *  ik_solution 
)

Definition at line 474 of file moveit_grasp_mediator.cpp.

◆ manipulate_grasp_data()

void Moveit_grasp_mediator::manipulate_grasp_data ( Moveit_robot robot)

Definition at line 49 of file moveit_grasp_mediator.cpp.

◆ manipulate_mapspace()

void Moveit_grasp_mediator::manipulate_mapspace ( tf2::Transform &  tf,
tf2::Vector3 &  size 
)

Definition at line 35 of file moveit_grasp_mediator.cpp.

◆ mediate()

void Moveit_grasp_mediator::mediate ( )
overridevirtual

Implements Abstract_mediator.

Definition at line 141 of file moveit_grasp_mediator.cpp.

◆ planFullGrasp()

bool Moveit_grasp_mediator::planFullGrasp ( std::vector< moveit_grasps::GraspCandidatePtr > &  grasp_candidates,
moveit_grasps::GraspCandidatePtr &  valid_grasp_candidate,
moveit_msgs::MotionPlanResponse &  pre_approach_plan,
const std::string &  object_name 
)

Definition at line 382 of file moveit_grasp_mediator.cpp.

◆ planPreApproach()

bool Moveit_grasp_mediator::planPreApproach ( const robot_state::RobotState &  goal_state,
moveit_msgs::MotionPlanResponse &  pre_approach_plan 
)

Definition at line 429 of file moveit_grasp_mediator.cpp.

◆ scene_setup()

void Moveit_grasp_mediator::scene_setup ( )

Definition at line 501 of file moveit_grasp_mediator.cpp.

◆ visualizePick()

void Moveit_grasp_mediator::visualizePick ( const moveit_grasps::GraspCandidatePtr &  valid_grasp_candidate,
const moveit_msgs::MotionPlanResponse &  pre_approach_plan 
)

Definition at line 318 of file moveit_grasp_mediator.cpp.

◆ waitForNextStep()

void Moveit_grasp_mediator::waitForNextStep ( const moveit_visual_tools::MoveItVisualToolsPtr &  visual_tools,
const std::string &  prompt 
)

Definition at line 424 of file moveit_grasp_mediator.cpp.

Member Data Documentation

◆ cuboid_reader_

std::unique_ptr<Abstract_param_reader> Moveit_grasp_mediator::cuboid_reader_
protected

Definition at line 35 of file moveit_grasp_mediator.h.

◆ grasp_maps_

std::vector<GraspMap> Moveit_grasp_mediator::grasp_maps_
protected

Definition at line 29 of file moveit_grasp_mediator.h.

◆ grasp_ns_

std::string Moveit_grasp_mediator::grasp_ns_
protected

Definition at line 27 of file moveit_grasp_mediator.h.

◆ job_reader_

std::unique_ptr<Job_reader> Moveit_grasp_mediator::job_reader_
protected

Definition at line 36 of file moveit_grasp_mediator.h.

◆ planning_pipeline_

std::shared_ptr<planning_pipeline::PlanningPipeline> Moveit_grasp_mediator::planning_pipeline_
protected

Definition at line 25 of file moveit_grasp_mediator.h.

◆ robot_reader_

std::unique_ptr<Robot_reader> Moveit_grasp_mediator::robot_reader_
protected

Definition at line 33 of file moveit_grasp_mediator.h.

◆ voxel_environment_

boost::dynamic_bitset Moveit_grasp_mediator::voxel_environment_
protected

Definition at line 28 of file moveit_grasp_mediator.h.

◆ voxel_manager_

std::shared_ptr<VoxelManager> Moveit_grasp_mediator::voxel_manager_
protected

Definition at line 26 of file moveit_grasp_mediator.h.

◆ wing_reader_

std::unique_ptr<Abstract_param_reader> Moveit_grasp_mediator::wing_reader_
protected

Definition at line 34 of file moveit_grasp_mediator.h.


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


multi_cell_builder
Author(s): MA
autogenerated on Thu Jan 12 2023 23:45:43