Fawkes API  Fawkes Development Version
graspplanning::GraspPlanner Class Reference

Class to plan a grasp for a given robot and target. More...

List of all members.

Public Member Functions

def __init__
 Constructor.
def waitrobot
 Wait for robot to complete action.
def graspObject
 Grasps an object.

Public Attributes

 envreal
 environment to be used
 robot
 robot to be used
 target
 target to be used
 gmodel
 grasping model for given robot and target
 taskmanip
 taskmanipulation problem/module
 trajdata
 stored trajectory for planned path

Detailed Description

Class to plan a grasp for a given robot and target.

This class loads a pregenerated grasping database and can use those grasps to find a valid grasp for the given target, and calculate a collision-free path for the arm to move to a grasping position.


Constructor & Destructor Documentation

def graspplanning::GraspPlanner::__init__ (   self,
  robot,
  target 
)

Constructor.

Parameters:
robotthe robot to be used for planning.
targetthe target KinBody.

Definition at line 39 of file graspplanning.py.


Member Function Documentation

def graspplanning::GraspPlanner::graspObject (   self)

Grasps an object.

This version returns the first valid grasp found. Should be tweaked in later versions, as the first valid grasp might be at the bottom of the target instead of the middle, which would be preferred.

Returns:
graspindex if successfull, -1 if failed to find valid grasp

Definition at line 74 of file graspplanning.py.

def graspplanning::GraspPlanner::waitrobot (   self,
  robot = None 
)

Wait for robot to complete action.

Parameters:
robotThe robot to be checked.
Returns:
void

Definition at line 63 of file graspplanning.py.

References robot.


Member Data Documentation

environment to be used

Definition at line 40 of file graspplanning.py.

grasping model for given robot and target

Definition at line 43 of file graspplanning.py.

robot to be used

Definition at line 41 of file graspplanning.py.

Referenced by waitrobot().

target to be used

Definition at line 42 of file graspplanning.py.

taskmanipulation problem/module

Definition at line 75 of file graspplanning.py.

stored trajectory for planned path

Definition at line 76 of file graspplanning.py.


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