cl_moveit2z::CpGraspingComponent Class Reference

#include <cp_grasping_objects.hpp>

Inheritance diagram for cl_moveit2z::CpGraspingComponent:

Collaboration diagram for cl_moveit2z::CpGraspingComponent:

Public Member Functions
bool	getGraspingObject (std::string name, moveit_msgs::msg::CollisionObject &object)
void	createGraspableBox (std::string frameid, float x, float y, float z, float xl, float yl, float zl)
Public Member Functions inherited from smacc2::ISmaccComponent
	ISmaccComponent ()
virtual	~ISmaccComponent ()
virtual std::string	getName () const

Public Attributes
std::vector< std::string >	fingerTipNames
std::string	gripperLink_ = "gripper_link"
std::optional< std::string >	currentAttachedObjectName

Private Attributes
std::map< std::string, moveit_msgs::msg::CollisionObject >	graspingObjects

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccComponent
virtual void	onInitialize ()
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
template<typename TComponent >
void	requiresComponent (TComponent *&requiredComponentStorage, bool throwExceptionIfNotExist=false)
template<typename TComponent >
void	requiresComponent (std::string name, TComponent *&requiredComponentStorage, bool throwExceptionIfNotExist=false)
template<typename TClient >
void	requiresClient (TClient *&requiredClientStorage)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingComponent (TArgs... targs)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingNamedComponent (std::string name, TArgs... targs)
rclcpp::Node::SharedPtr	getNode ()
rclcpp::Logger	getLogger () const
ISmaccStateMachine *	getStateMachine ()
Protected Attributes inherited from smacc2::ISmaccComponent
ISmaccStateMachine *	stateMachine_
ISmaccClient *	owner_

Detailed Description

Definition at line 30 of file cp_grasping_objects.hpp.

Member Function Documentation

createGraspableBox()

void cl_moveit2z::CpGraspingComponent::createGraspableBox	(	std::string	frameid,
		float	x,
		float	y,
		float	z,
		float	xl,
		float	yl,
		float	zl
	)

Definition at line 39 of file cp_grasping_objects.cpp.

{
  RCLCPP_INFO_STREAM(
    getLogger(), "[" << getName() << "] creating grasping object in planning scene: " << frameid);
  moveit_msgs::msg::CollisionObject collision;
  auto boxname = frameid;
  ;
  collision.id = boxname;
  collision.header.frame_id = frameid;
 
  collision.primitives.resize(1);
  collision.primitives[0].type = collision.primitives[0].BOX;
  collision.primitives[0].dimensions.resize(3);
 
  collision.primitives[0].dimensions[0] = xl;
  collision.primitives[0].dimensions[1] = yl;
  collision.primitives[0].dimensions[2] = zl;
 
  collision.primitive_poses.resize(1);
  collision.primitive_poses[0].position.x = x;
  collision.primitive_poses[0].position.y = y;
  collision.primitive_poses[0].position.z = z;
  collision.primitive_poses[0].orientation.w = 1.0;
 
  graspingObjects[boxname] = collision;
}

References smacc2::ISmaccComponent::getLogger(), smacc2::ISmaccComponent::getName(), and graspingObjects.

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getGraspingObject()

bool cl_moveit2z::CpGraspingComponent::getGraspingObject	(	std::string	name,
		moveit_msgs::msg::CollisionObject &	object
	)

Definition at line 25 of file cp_grasping_objects.cpp.

{
  if (this->graspingObjects.count(name))
  {
    object = this->graspingObjects[name];
    return true;
  }
  else
  {
    return false;
  }
}

References graspingObjects.

Referenced by cl_moveit2z::CbAttachObject::onEntry().

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Member Data Documentation

currentAttachedObjectName

std::optional<std::string> cl_moveit2z::CpGraspingComponent::currentAttachedObjectName

Definition at line 39 of file cp_grasping_objects.hpp.

Referenced by cl_moveit2z::CbAttachObject::onEntry(), and cl_moveit2z::CbDetachObject::onEntry().

fingerTipNames

std::vector<std::string> cl_moveit2z::CpGraspingComponent::fingerTipNames

Definition at line 36 of file cp_grasping_objects.hpp.

Referenced by cl_moveit2z::CbAttachObject::onEntry().

graspingObjects

std::map<std::string, moveit_msgs::msg::CollisionObject> cl_moveit2z::CpGraspingComponent::graspingObjects

private

Definition at line 33 of file cp_grasping_objects.hpp.

Referenced by createGraspableBox(), and getGraspingObject().

gripperLink_

std::string cl_moveit2z::CpGraspingComponent::gripperLink_ = "gripper_link"

Definition at line 37 of file cp_grasping_objects.hpp.

Referenced by cl_moveit2z::CbAttachObject::onEntry().

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

• smacc2_client_library/moveit2z_client/include/moveit2z_client/components/cp_grasping_objects.hpp
• smacc2_client_library/moveit2z_client/src/moveit2z_client/components/cp_grasping_objects.cpp