#include <moveit_grasp_mediator.h>
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) |
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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 () |
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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_reader > | cuboid_reader_ |
std::vector< GraspMap > | grasp_maps_ |
std::string | grasp_ns_ |
std::unique_ptr< Job_reader > | job_reader_ |
std::shared_ptr< planning_pipeline::PlanningPipeline > | planning_pipeline_ |
std::unique_ptr< Robot_reader > | robot_reader_ |
boost::dynamic_bitset | voxel_environment_ |
std::shared_ptr< VoxelManager > | voxel_manager_ |
std::unique_ptr< Abstract_param_reader > | wing_reader_ |
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std::map< std::string, std::vector< uint8_t > > | acm_ |
std::shared_ptr< moveit::task_constructor::solvers::CartesianPath > | cartesian_planner_ |
std::unique_ptr< Cuboid_reader > | cuboid_reader_ |
std::unique_ptr< Job_reader > | job_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_ |
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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_reader > | task_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_ |
Definition at line 23 of file moveit_grasp_mediator.h.
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.
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overridevirtual |
Implements Abstract_mediator.
Definition at line 8 of file moveit_grasp_mediator.cpp.
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.
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.
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.
void Moveit_grasp_mediator::manipulate_grasp_data | ( | Moveit_robot * | robot | ) |
Definition at line 49 of file moveit_grasp_mediator.cpp.
void Moveit_grasp_mediator::manipulate_mapspace | ( | tf2::Transform & | tf, |
tf2::Vector3 & | size | ||
) |
Definition at line 35 of file moveit_grasp_mediator.cpp.
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overridevirtual |
Implements Abstract_mediator.
Definition at line 141 of file moveit_grasp_mediator.cpp.
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.
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.
void Moveit_grasp_mediator::scene_setup | ( | ) |
Definition at line 501 of file moveit_grasp_mediator.cpp.
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.
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.
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protected |
Definition at line 35 of file moveit_grasp_mediator.h.
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Definition at line 29 of file moveit_grasp_mediator.h.
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Definition at line 27 of file moveit_grasp_mediator.h.
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Definition at line 36 of file moveit_grasp_mediator.h.
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Definition at line 25 of file moveit_grasp_mediator.h.
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Definition at line 33 of file moveit_grasp_mediator.h.
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Definition at line 28 of file moveit_grasp_mediator.h.
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Definition at line 26 of file moveit_grasp_mediator.h.
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Definition at line 34 of file moveit_grasp_mediator.h.