#include <cp_grasping_objects.h>

Inheritance diagram for cl_move_group_interface::GraspingComponent:

Collaboration diagram for cl_move_group_interface::GraspingComponent:

Public Member Functions
bool	getGraspingObject (std::string name, moveit_msgs::CollisionObject &object)

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

Public Member Functions inherited from smacc::ISmaccComponent
	ISmaccComponent ()

virtual	~ISmaccComponent ()

virtual std::string	getName () const

Public Attributes
std::vector< std::string >	fingerTipNames

boost::optional< std::string >	currentAttachedObjectName

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

Additional Inherited Members
Protected Member Functions inherited from smacc::ISmaccComponent
virtual void	initialize (ISmaccClient *owner)

void	setStateMachine (ISmaccStateMachine *stateMachine)

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)

template<typename TClient >
void	requiresClient (TClient *&requiredClientStorage)

virtual void	onInitialize ()

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)

Protected Attributes inherited from smacc::ISmaccComponent
ISmaccStateMachine *	stateMachine_

ISmaccClient *	owner_

Detailed Description

Definition at line 10 of file cp_grasping_objects.h.

Member Function Documentation

◆ createGraspableBox()

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

Definition at line 18 of file cp_grasping_objects.cpp.

   {
      moveit_msgs::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 graspingObjects.

◆ getGraspingObject()

bool cl_move_group_interface::GraspingComponent::getGraspingObject	(	std::string	name,
		moveit_msgs::CollisionObject &	object
	)

Definition at line 5 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_move_group_interface::CbAttachObject::onEntry().

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Member Data Documentation

◆ currentAttachedObjectName

boost::optional<std::string> cl_move_group_interface::GraspingComponent::currentAttachedObjectName

Definition at line 18 of file cp_grasping_objects.h.

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

◆ fingerTipNames

std::vector<std::string> cl_move_group_interface::GraspingComponent::fingerTipNames

Definition at line 16 of file cp_grasping_objects.h.

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

◆ graspingObjects

std::map<std::string, moveit_msgs::CollisionObject> cl_move_group_interface::GraspingComponent::graspingObjects

private

Definition at line 13 of file cp_grasping_objects.h.

Referenced by createGraspableBox(), and getGraspingObject().

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

smacc_client_library/move_group_interface_client/include/move_group_interface_client/components/cp_grasping_objects.h
smacc_client_library/move_group_interface_client/src/move_group_interface_client/components/cp_grasping_objects.cpp

Public Member Functions

Public Attributes

Private Attributes

Additional Inherited Members