Grasper.h File Reference

#include "Shared/RobotInfo.h"
#include "Behaviors/Nodes/ArmNode.h"
#include "Behaviors/Nodes/DynamicMotionSequenceNode.h"
#include "Behaviors/Nodes/PostMachine.h"
#include "Behaviors/Nodes/SpeechNode.h"
#include "Behaviors/Transitions/CompareTrans.h"
#include "Behaviors/Transitions/CompletionTrans.h"
#include "Behaviors/Transitions/NullTrans.h"
#include "Behaviors/Transitions/PilotTrans.h"
#include "Behaviors/Transitions/SignalTrans.h"
#include "Behaviors/Transitions/TextMsgTrans.h"
#include "Crew/GrasperRequest.h"
#include "Crew/MapBuilderNode.h"
#include "Crew/MotionNodes.h"
#include "Crew/PilotNode.h"
#include "Events/GrasperEvent.h"
#include "Motion/IKSolver.h"
#include "Planners/Manipulation/ShapeSpacePlanner3DR.h"

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Classes
class	Grasper
	The Grasper is the member of the Tekkotsu Crew responsible for arm-based manipulation. More...
class	Grasper::PlanBodyApproach
	Plan body motion to approach the object. More...
class	Grasper::DoBodyApproach
	Execute body motion to approach the object. More...
class	Grasper::FindObj
	Re-acquire object on local map after moving the body. More...
class	Grasper::PlanArmApproach
	Plan arm motion to get fingers around the object. More...
class	Grasper::DoArmApproach
	Execute arm motion to get fingers around the object. More...
class	Grasper::FingersApproach
	Open fingers far enough to accomodate object. More...
class	Grasper::DoBodyApproach2
	For Calliope2SP: move body instead of arm to acquire the object. More...
class	Grasper::DoBodyApproach3
	For Calliope2SP: move body instead of arm to acquire the object. More...
class	Grasper::Verify
	Verify that object is grasped. More...
class	Grasper::Verify::VerifyDispatch
class	Grasper::Verify::GetAprilTag
class	Grasper::Verify::CheckAprilTag
class	Grasper::Verify::GetDomino
class	Grasper::Verify::CheckDomino
class	Grasper::Verify::GetCross
class	Grasper::Verify::CheckCross
class	Grasper::Verify::CheckGripperLoad
class	Grasper::Verify::CheckUserVerify
class	Grasper::ArmGrasp
	Close fingers to grasp the object. More...
class	Grasper::ArmPulse
	Set or clear gripper pulsing to prevent load errors. More...
class	Grasper::ArmNudge
	Move the object to test that it was grasped successfully. More...
class	Grasper::ArmRaise
	Raise the object for transport. More...
class	Grasper::PlanBodyTransport
	Plan body move to dropoff location. More...
class	Grasper::DoBodyTransport
	Execute body move for dropoff. More...
class	Grasper::PlanArmDeliver
	Plan arm move to dropoff location. More...
class	Grasper::DoArmDeliver
	Execute arm motion to deposit the object at its destination. More...
class	Grasper::ReleaseArm
	Release the object. More...
class	Grasper::DoWithdraw
	DoWithdraw from the object. More...
class	Grasper::MoveArm
	Moves the body. More...
class	Grasper::Rest
	Moves the arm to the rest state. More...
class	Grasper::Rest::GetRestType
class	Grasper::Rest::GetOpenGripperFlag
class	Grasper::SetJoint
	Set joint to specified angle. More...
class	Grasper::OpenTheGripper
	Open the gripper. More...
class	Grasper::CloseTheGripper
	Close the gripper. More...
class	Grasper::PathPlanConstrained
	Plan a constrained path. More...
class	Grasper::PathPlanToRest
	Plan a path to the rest state. More...
class	Grasper::IfRequestIs
class	Grasper::SignalGraspError
	Signal the failure of a grasp sub-statemachine via a signalTrans. More...
class	Grasper::GrasperSucceeded
	Report successful completion of the grasper request via a GrasperEvent. More...
class	Grasper::GrasperFailed
	Report failure of the grasper request via a GrasperEvent. More...
class	Grasper::NextRequest
	Move on to the next grasper request. More...