Panda_grasping
Protected Member Functions | Static Protected Member Functions | Protected Attributes | List of all members
Grasping Class Reference
Inheritance diagram for Grasping:

Protected Member Functions

void SetUp () override
 
void pickAndPlace (tf2::Vector3 size, tf2::Vector3 from, double fromAngle, tf2::Vector3 to, double toAngle)
 

Static Protected Member Functions

static void CleanupScene ()
 

Protected Attributes

ros::ServiceClient pickClient
 
ros::ServiceClient placeClient
 
std::vector< tf2::Vector3 > objects
 
std::vector< tf2::Vector3 > points
 
tf2::Vector3 nullLocation {-0.4, 0.5, 0}
 
std::vector< double > angles
 

Detailed Description

This is a pick and place test for Panda robot

Member Function Documentation

◆ CleanupScene()

Grasping::CleanupScene ( )
inlinestaticprotected

Clean all the objects in the scene

◆ pickAndPlace()

void Grasping::pickAndPlace ( tf2::Vector3  size,
tf2::Vector3  from,
double  fromAngle,
tf2::Vector3  to,
double  toAngle 
)
inlineprotected

Pick and place function

◆ SetUp()

void Grasping::SetUp ( )
inlineoverrideprotected

Registe a "panda_grasping" node

Create a pick client

Create a place client

Clean up the scene

Member Data Documentation

◆ angles

std::vector<double> Grasping::angles
protected
Initial value:
{
M_PI_2,
1,
-M_PI_4
}

Define test orientation angles

◆ objects

std::vector<tf2::Vector3> Grasping::objects
protected
Initial value:
{
tf2::Vector3(0.01, 0.1, 0.1),
tf2::Vector3(0.05, 0.1, 0.1),
tf2::Vector3(0.005, 0.1, 0.1)
}

Define test objects

◆ points

std::vector<tf2::Vector3> Grasping::points
protected
Initial value:
{
tf2::Vector3(0.5, 0.3, 0.2),
tf2::Vector3(-0.5, -0.3, 0.3),
tf2::Vector3(0.5, 0.3, 0.1),
tf2::Vector3(0.4, 0.5, 0.4),
}

Define pick and place points


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