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void | SetUp () override |
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void | pickAndPlace (tf2::Vector3 size, tf2::Vector3 from, double fromAngle, tf2::Vector3 to, double toAngle) |
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ros::ServiceClient | pickClient |
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ros::ServiceClient | placeClient |
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std::vector< tf2::Vector3 > | objects |
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std::vector< tf2::Vector3 > | points |
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tf2::Vector3 | nullLocation {-0.4, 0.5, 0} |
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std::vector< double > | angles |
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This is a pick and place test for Panda robot
◆ CleanupScene()
Grasping::CleanupScene |
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inlinestaticprotected |
Clean all the objects in the scene
◆ pickAndPlace()
void Grasping::pickAndPlace |
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tf2::Vector3 |
size, |
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tf2::Vector3 |
from, |
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double |
fromAngle, |
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tf2::Vector3 |
to, |
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double |
toAngle |
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inlineprotected |
◆ SetUp()
Registe a "panda_grasping" node
Create a pick client
Create a place client
Clean up the scene
◆ angles
std::vector<double> Grasping::angles |
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Initial value:Define test orientation angles
◆ objects
std::vector<tf2::Vector3> Grasping::objects |
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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 |
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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: