Fawkes API
Fawkes Development Version
|
Interface for a OpenRave connection creator. More...
#include <>>
Public Member Functions | |
virtual | ~OpenRaveConnector () |
Virtual empty destructor. More... | |
virtual void | clone (OpenRaveEnvironmentPtr &env, OpenRaveRobotPtr &robot, OpenRaveManipulatorPtr &manip) const =0 |
Clone basically everything We pass pointers to pointer as parameters, so the pointers we create before calling this clone() method will point to the new objects. More... | |
virtual void | start_viewer () const =0 |
Start OpenRave viewer. More... | |
virtual void | run_planner (OpenRaveRobotPtr &robot, float sampling=0.01f)=0 |
Run planner on previously set target. More... | |
virtual void | run_planner (float sampling=0.01f)=0 |
Run planner on previously set target. More... | |
virtual void | run_graspplanning (const std::string &target_name, OpenRaveRobotPtr &robot)=0 |
Run graspplanning script for a given target. More... | |
virtual void | run_graspplanning (const std::string &target_name)=0 |
Run graspplanning script for a given target. More... | |
virtual OpenRaveEnvironmentPtr | get_environment () const =0 |
Get pointer to OpenRaveEnvironment object. More... | |
virtual OpenRaveRobotPtr | get_active_robot () const =0 |
Get pointer to currently used OpenRaveRobot object. More... | |
virtual void | set_active_robot (OpenRaveRobotPtr robot)=0 |
Set robot to be used. More... | |
virtual void | set_active_robot (OpenRaveRobot *robot)=0 |
Set robot to be used. More... | |
virtual OpenRaveRobotPtr | add_robot (const std::string &filename_robot, bool autogenerate_IK)=0 |
Add a new robot to the environment, and set it as the currently active one. More... | |
virtual void | set_manipulator (OpenRaveRobotPtr &robot, OpenRaveManipulatorPtr &manip, float trans_x=0.f, float trans_y=0.f, float trans_z=0.f, bool calibrate=0)=0 |
Set OpenRaveManipulator object for robot, and calculate coordinate-system offsets or set them directly. More... | |
virtual void | set_manipulator (OpenRaveManipulatorPtr &manip, float trans_x=0.f, float trans_y=0.f, float trans_z=0.f, bool calibrate=0)=0 |
Set OpenRaveManipulator object for robot, and calculate coordinate-system offsets or set them directly. More... | |
virtual bool | add_object (const std::string &name, const std::string &filename)=0 |
Add an object to the environment. More... | |
virtual bool | delete_object (const std::string &name)=0 |
Remove object from environment. More... | |
virtual bool | rename_object (const std::string &name, const std::string &new_name)=0 |
Rename object. More... | |
virtual bool | move_object (const std::string &name, float trans_x, float trans_y, float trans_z, OpenRaveRobotPtr &robot)=0 |
Move object in the environment. More... | |
virtual bool | move_object (const std::string &name, float trans_x, float trans_y, float trans_z)=0 |
Move object in the environment. More... | |
virtual bool | rotate_object (const std::string &name, float quat_x, float quat_y, float quat_z, float quat_w)=0 |
Rotate object by a quaternion. More... | |
virtual bool | rotate_object (const std::string &name, float rot_x, float rot_y, float rot_z)=0 |
Rotate object along its axis. More... | |
virtual bool | attach_object (const char *name, OpenRaveRobotPtr &robot, const char *manip_name)=0 |
Attach a kinbody to the robot. More... | |
virtual bool | attach_object (const char *name, const char *manip_name)=0 |
Attach a kinbody to the robot. More... | |
virtual bool | release_object (const std::string &name, OpenRaveRobotPtr &robot)=0 |
Release a kinbody from the robot. More... | |
virtual bool | release_object (const std::string &name)=0 |
Release a kinbody from the robot. More... | |
virtual bool | release_all_objects (OpenRaveRobotPtr &robot)=0 |
Release all grabbed kinbodys from the robot. More... | |
virtual bool | release_all_objects ()=0 |
Release all grabbed kinbodys from the robot. More... | |
virtual bool | set_target_object (const std::string &name, OpenRaveRobotPtr &robot, float rot_x=0)=0 |
Set an object as the target. More... | |
Interface for a OpenRave connection creator.
Definition at line 51 of file openrave_connector.h.
|
inlinevirtual |
Virtual empty destructor.
Definition at line 55 of file openrave_connector.h.
References add_object(), add_robot(), attach_object(), clone(), delete_object(), get_active_robot(), get_environment(), move_object(), release_all_objects(), release_object(), rename_object(), rotate_object(), run_graspplanning(), run_planner(), set_active_robot(), set_manipulator(), set_target_object(), and start_viewer().
|
pure virtual |
Add an object to the environment.
name | name that should be given to that object |
filename | path to xml file of that object (KinBody) |
Implemented in OpenRaveThread.
Referenced by ~OpenRaveConnector().
|
pure virtual |
Add a new robot to the environment, and set it as the currently active one.
filename_robot | path to robot's xml file |
autogenerate_IK | if true: autogenerate IKfast IK solver for robot |
Implemented in OpenRaveThread.
Referenced by ~OpenRaveConnector().
|
pure virtual |
Attach a kinbody to the robot.
name | name of the object |
robot | pointer to OpenRaveRobot that the target is set for |
manip_name | name of the manipulator to attach the object to |
Implemented in OpenRaveThread.
Referenced by ~OpenRaveConnector().
|
pure virtual |
Attach a kinbody to the robot.
Uses currently active robot.
name | name of the object |
manip_name | name of the manipulator to attach the object to |
Implemented in OpenRaveThread.
|
pure virtual |
Clone basically everything We pass pointers to pointer as parameters, so the pointers we create before calling this clone() method will point to the new objects.
env | Pointer to pointer of the copied environment |
robot | Pointer to pointer of the copied robot |
manip | Pointer to pointer of the copied manipulator |
Implemented in OpenRaveThread.
Referenced by ~OpenRaveConnector().
|
pure virtual |
Remove object from environment.
name | name of the object |
Implemented in OpenRaveThread.
Referenced by ~OpenRaveConnector().
|
pure virtual |
Get pointer to currently used OpenRaveRobot object.
Implemented in OpenRaveThread.
Referenced by ~OpenRaveConnector().
|
pure virtual |
Get pointer to OpenRaveEnvironment object.
Implemented in OpenRaveThread.
Referenced by ~OpenRaveConnector().
|
pure virtual |
Move object in the environment.
Distances are given in meters
name | name of the object |
trans_x | transition along x-axis |
trans_y | transition along y-axis |
trans_z | transition along z-axis |
robot | if given, move relatively to robot (in most simple cases robot is at position (0,0,0) anyway, so this has no effect) |
Implemented in OpenRaveThread.
Referenced by ~OpenRaveConnector().
|
pure virtual |
Move object in the environment.
Uses currently active robot. Distances are given in meters
name | name of the object |
trans_x | transition along x-axis |
trans_y | transition along y-axis |
trans_z | transition along z-axis |
Implemented in OpenRaveThread.
|
pure virtual |
Release all grabbed kinbodys from the robot.
robot | pointer to OpenRaveRobot that objects are released from |
Implemented in OpenRaveThread.
|
pure virtual |
Release all grabbed kinbodys from the robot.
Uses currently active robot.
Implemented in OpenRaveThread.
Referenced by ~OpenRaveConnector().
|
pure virtual |
Release a kinbody from the robot.
name | name of the object |
robot | pointer to OpenRaveRobot that object is released from |
Implemented in OpenRaveThread.
Referenced by ~OpenRaveConnector().
|
pure virtual |
Release a kinbody from the robot.
Uses currently active robot.
name | name of the object |
Implemented in OpenRaveThread.
|
pure virtual |
Rename object.
name | current name of the object |
new_name | new name of the object |
Implemented in OpenRaveThread.
Referenced by ~OpenRaveConnector().
|
pure virtual |
Rotate object by a quaternion.
name | name of the object |
quat_x | x value of quaternion |
quat_y | y value of quaternion |
quat_z | z value of quaternion |
quat_w | w value of quaternion |
Implemented in OpenRaveThread.
Referenced by ~OpenRaveConnector().
|
pure virtual |
Rotate object along its axis.
Rotation angles should be given in radians.
name | name of the object |
rot_x | 1st rotation, along x-axis |
rot_y | 2nd rotation, along y-axis |
rot_z | 3rd rotation, along z-axis |
Implemented in OpenRaveThread.
|
pure virtual |
Run graspplanning script for a given target.
target_name | name of targeted object (KinBody) |
robot | robot to use planner on. If none is given, the currently used robot is taken |
Implemented in OpenRaveThread.
Referenced by ~OpenRaveConnector().
|
pure virtual |
Run graspplanning script for a given target.
Uses currently active robot.
target_name | name of targeted object (KinBody) |
Implemented in OpenRaveThread.
|
pure virtual |
Run planner on previously set target.
robot | robot to use planner on. If none is given, the currently used robot is taken |
sampling | sampling time between each trajectory point (in seconds) |
Implemented in OpenRaveThread.
Referenced by ~OpenRaveConnector().
|
pure virtual |
Run planner on previously set target.
Uses currently active robot.
sampling | sampling time between each trajectory point (in seconds) |
Implemented in OpenRaveThread.
|
pure virtual |
Set robot to be used.
robot | OpenRaveRobot that should be used implicitly in other methods |
Implemented in OpenRaveThread.
Referenced by ~OpenRaveConnector().
|
pure virtual |
Set robot to be used.
robot | OpenRaveRobot that should be used implicitly in other methods |
Implemented in OpenRaveThread.
|
pure virtual |
Set OpenRaveManipulator object for robot, and calculate coordinate-system offsets or set them directly.
Make sure to update manip angles before calibrating!
robot | pointer to OpenRaveRobot object, explicitly set |
manip | pointer to OpenRAVManipulator that is set for robot |
trans_x | transition offset on x-axis |
trans_y | transition offset on y-axis |
trans_z | transition offset on z-axis |
calibrate | decides whether to calculate offset (true )or set them directly (false; default) |
Implemented in OpenRaveThread.
Referenced by ~OpenRaveConnector().
|
pure virtual |
Set OpenRaveManipulator object for robot, and calculate coordinate-system offsets or set them directly.
Make sure to update manip angles before calibrating! Uses default OpenRaveRobot object.
manip | pointer to OpenRAVManipulator that is set for robot |
trans_x | transition offset on x-axis |
trans_y | transition offset on y-axis |
trans_z | transition offset on z-axis |
calibrate | decides whether to calculate offset (true )or set them directly (false; default) |
Implemented in OpenRaveThread.
|
pure virtual |
Set an object as the target.
Currently the object should be cylindric, and stand upright. It may also be rotated on its x-axis, but that rotation needs to be given in an argument to calculate correct position for endeffecto. This is only temporary until proper graps planning for 5DOF in OpenRave is provided.
name | name of the object |
robot | pointer to OpenRaveRobot that the target is set for |
rot_x | rotation of object on x-axis (radians) |
Implemented in OpenRaveThread.
Referenced by ~OpenRaveConnector().
|
pure virtual |