moveit_grasp_mediator.h
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1 #ifndef MOVEIT_GRASP_MEDIATOR_
2 #define MOVEIT_GRASP_MEDIATOR_
3 
4 #include <ros/ros.h>
5 #include <ros/package.h>
6 #include <yaml-cpp/yaml.h>
7 #include <fstream>
9 #include "impl/moveit_mediator.h"
10 
11 #include "impl/abstract_robot.h"
12 #include "impl/robot.h"
13 #include <gb_grasp/VoxelManager.h>
14 #include <gb_grasp/GraspMap.h>
16 #include "reader/robot_reader.h"
17 #include "reader/cuboid_reader.h"
18 #include "reader/job_reader.h"
19 
20 
21 
22 
24  protected:
25  std::shared_ptr<planning_pipeline::PlanningPipeline> planning_pipeline_;
26  std::shared_ptr<VoxelManager> voxel_manager_;
27  std::string grasp_ns_;
28  boost::dynamic_bitset<> voxel_environment_;
29  std::vector<GraspMap> grasp_maps_;
30 
31 
32  // Readers
33  std::unique_ptr<Robot_reader> robot_reader_;
34  std::unique_ptr<Abstract_param_reader> wing_reader_;
35  std::unique_ptr<Abstract_param_reader> cuboid_reader_;
36  std::unique_ptr<Job_reader> job_reader_;
37 
38 
39  public:
40  Moveit_grasp_mediator(std::vector<std::vector<tf2::Transform>> objects, ros::Publisher* pub, std::shared_ptr<ros::NodeHandle> const& nh);
41 
42 
43  void mediate() override;
44  void connect_robots(Abstract_robot* robot) override;
45 
47  void scene_setup();
48  void manipulate_mapspace(tf2::Transform& tf, tf2::Vector3& size);
49  bool generateRandomCuboid(std::string& object_name, geometry_msgs::Pose& object_pose, double& x_depth, double& y_width, double& z_height);
50  bool getIKSolution(const moveit::core::JointModelGroup* arm_jmg, const Eigen::Isometry3d& target_pose, robot_state::RobotState& solution, const std::string& link_name);
51  bool planFullGrasp(std::vector<moveit_grasps::GraspCandidatePtr>& grasp_candidates,
52  moveit_grasps::GraspCandidatePtr& valid_grasp_candidate,
53  moveit_msgs::MotionPlanResponse& pre_approach_plan, const std::string& object_name);
54  void visualizePick(const moveit_grasps::GraspCandidatePtr& valid_grasp_candidate,
55  const moveit_msgs::MotionPlanResponse& pre_approach_plan);
56  void waitForNextStep(const moveit_visual_tools::MoveItVisualToolsPtr& visual_tools, const std::string& prompt);
57  bool planPreApproach(const robot_state::RobotState& goal_state, moveit_msgs::MotionPlanResponse& pre_approach_plan);
58  bool isStateValid(const planning_scene::PlanningScene* planning_scene,
59  const moveit_visual_tools::MoveItVisualToolsPtr& visual_tools, robot_state::RobotState* robot_state,
60  const robot_model::JointModelGroup* group, const double* ik_solution);
61 
62 
63 
64 
65 };
66 
67 #endif
Moveit_grasp_mediator::generateRandomCuboid
bool generateRandomCuboid(std::string &object_name, geometry_msgs::Pose &object_pose, double &x_depth, double &y_width, double &z_height)
Definition: moveit_grasp_mediator.cpp:108
Moveit_grasp_mediator::connect_robots
void connect_robots(Abstract_robot *robot) override
Definition: moveit_grasp_mediator.cpp:8
robot.h
cuboid_reader.h
job_reader.h
Moveit_grasp_mediator::mediate
void mediate() override
Definition: moveit_grasp_mediator.cpp:141
Moveit_grasp_mediator::planning_pipeline_
std::shared_ptr< planning_pipeline::PlanningPipeline > planning_pipeline_
Definition: moveit_grasp_mediator.h:25
abstract_param_reader.h
Moveit_grasp_mediator::grasp_ns_
std::string grasp_ns_
Definition: moveit_grasp_mediator.h:27
Moveit_grasp_mediator
Definition: moveit_grasp_mediator.h:23
Moveit_grasp_mediator::voxel_environment_
boost::dynamic_bitset voxel_environment_
Definition: moveit_grasp_mediator.h:28
Moveit_grasp_mediator::cuboid_reader_
std::unique_ptr< Abstract_param_reader > cuboid_reader_
Definition: moveit_grasp_mediator.h:35
Moveit_grasp_mediator::job_reader_
std::unique_ptr< Job_reader > job_reader_
Definition: moveit_grasp_mediator.h:36
Moveit_grasp_mediator::manipulate_mapspace
void manipulate_mapspace(tf2::Transform &tf, tf2::Vector3 &size)
Definition: moveit_grasp_mediator.cpp:35
Moveit_grasp_mediator::robot_reader_
std::unique_ptr< Robot_reader > robot_reader_
Definition: moveit_grasp_mediator.h:33
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: moveit_grasp_mediator.cpp:525
Moveit_grasp_mediator::grasp_maps_
std::vector< GraspMap > grasp_maps_
Definition: moveit_grasp_mediator.h:29
abstract_mediator.h
abstract_robot.h
Moveit_grasp_mediator::waitForNextStep
void waitForNextStep(const moveit_visual_tools::MoveItVisualToolsPtr &visual_tools, const std::string &prompt)
Definition: moveit_grasp_mediator.cpp:424
Moveit_grasp_mediator::planFullGrasp
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)
Definition: moveit_grasp_mediator.cpp:382
robot_reader.h
Moveit_grasp_mediator::visualizePick
void visualizePick(const moveit_grasps::GraspCandidatePtr &valid_grasp_candidate, const moveit_msgs::MotionPlanResponse &pre_approach_plan)
Definition: moveit_grasp_mediator.cpp:318
Moveit_robot
Definition: moveit_robot.h:12
Moveit_grasp_mediator::isStateValid
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)
Definition: moveit_grasp_mediator.cpp:474
Moveit_grasp_mediator::manipulate_grasp_data
void manipulate_grasp_data(Moveit_robot *robot)
Definition: moveit_grasp_mediator.cpp:49
Moveit_grasp_mediator::voxel_manager_
std::shared_ptr< VoxelManager > voxel_manager_
Definition: moveit_grasp_mediator.h:26
Moveit_mediator
Definition: moveit_mediator.h:54
Moveit_grasp_mediator::getIKSolution
bool getIKSolution(const moveit::core::JointModelGroup *arm_jmg, const Eigen::Isometry3d &target_pose, robot_state::RobotState &solution, const std::string &link_name)
Definition: moveit_grasp_mediator.cpp:483
moveit_mediator.h
Moveit_grasp_mediator::wing_reader_
std::unique_ptr< Abstract_param_reader > wing_reader_
Definition: moveit_grasp_mediator.h:34
Moveit_grasp_mediator::planPreApproach
bool planPreApproach(const robot_state::RobotState &goal_state, moveit_msgs::MotionPlanResponse &pre_approach_plan)
Definition: moveit_grasp_mediator.cpp:429
Abstract_robot
Definition: impl/abstract_robot.h:25
Moveit_grasp_mediator::scene_setup
void scene_setup()
Definition: moveit_grasp_mediator.cpp:501


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