GrasperRequest Class Reference

Request to the Grasper to manipulate something. More...

#include <GrasperRequest.h>

Detailed Description

Request to the Grasper to manipulate something.

Definition at line 15 of file GrasperRequest.h.

Public Types
enum	GrasperRequestType_t { checkGraspable, checkMovable, checkRestable, computeReach, reach, grasp, touch, release, moveTo, rest, sweep, computeMove, computeRest }
	What we're asking the Grasper to do. More...
enum	GrasperErrorType_t { noError = 0, someError, invalidRequest, noGraspState, noGraspPath, noTargetState, noTargetPath, noRestPath, badGrasp, badMove, pickUpUnreachable, dropOffUnreachable }
	What error is the Grasper going to return. More...
enum	GrasperPathType_t { noPath, moveFree, moveConstrained, disengage }
	What path we want to return in the GrasperEvent. More...
enum	GrasperRestType_t { stationary, settleArm, settleBodyAndArm }
	The kind of rest state to reach. stationary means none, settleArm moves the arm to the arm configuration in armRestState, settleBodyAndArm does settleArm and resets the ground plane. More...
typedef ShapeSpacePlanner2DR < NumArmJoints >	Planner
typedef Planner::NodeType_t	NodeType_t
typedef PlannerObstacle2D	PlannerObstacle
typedef NodeType_t::NodeValue_t	NodeValue_t
Public Member Functions
	~GrasperRequest ()
	GrasperRequest (GrasperRequestType_t _type)
	Constructor.
	GrasperRequest (const GrasperRequest &req)
	Copy constructor.
GrasperErrorType_t	validateRequest ()
	Validate the GrasperRequest and return an error code if there is a problem.
Public Attributes
GrasperRequestType_t	requestType
	The type of this Grasper request.
GrasperRestType_t	restType
	The rest type for this request.
NodeValue_t	armRestState
	The rest arm configuration.
GrasperVerbosity_t	setVerbosity
	Verbosity elements to force on.
GrasperVerbosity_t	clearVerbosity
	Verbosity elements to force off.
unsigned int	effectorOffset
	Offset of the end effector in the Kinematic chain to use (typically GripperFrameOffset).
unsigned int	rrtMaxIterations
	The maximum number of iterations the RRT should undergo.
float	rrtInflation
	The amount to inflate obstacles for safe planning (mm).
NodeValue_t	rrtInterpolationStep
	The amount to move each joint while extending.
float	armTimeFactor
	Factor to change how fast arm movements will be executed.
bool	openGripperOnRest
	Whether to open the gripper upon resting.
ShapeRoot	object
	The object to manipulate.
ShapeRoot	targetLocation
	Where to place the object.
std::vector< std::pair< float, float > >	gripperAngleRangesX
	Vector of ranges of egocentric angles in which the gripper is allowed to end up.
std::vector< std::pair< float, float > >	gripperAngleRangesY
	Vector of ranges of egocentric angles in which the gripper is allowed to end up.
std::vector< std::pair< float, float > >	gripperAngleRangesZ
	Vector of ranges of egocentric angles in which the gripper is allowed to end up.
int	maxNumberOfAngles
	Maximum number of angles to allow the gripper to have in angle ranges.
float	angleResolution
	Resolution of angles to use within gripperAngleRanges.
std::vector< ShapeRoot >	sweepObjects
	vector of objects to be swept
std::vector< ShapeRoot >	envObstacles
	List of obstacles in the environment.
std::vector< PlannerObstacle * >	plannerObstacles
	The list of obstacles for the planner to use.
std::vector< NodeValue_t >	moveConstrainedPath
	The predicate-constrained path.
std::vector< NodeValue_t >	moveFreePath
	The "acquire" path which is not predicate-constrained.
std::vector< NodeValue_t >	disengagePath
	The "disengage" path which is not predicate-constrained.
AdmissibilityPredicate < NodeType_t > *	predicate
	The desired predicate to use during planning for moveConstrainedPath.
bool	displayPath
	If true, the planned path is displayed in the shape space.
bool	displayTree
	If true, the RRT search tree is displayed in the shape space.
BehaviorBase *	requestingBehavior
	The Behavior making this request; used for posting grasper events.
GrasperVerbosity_t	verbosity
	Verbosity value computed by Grasper::executeRequest.
GrasperPathType_t	populateEventPathWith
Protected Member Functions
GrasperRequest &	operator= (const GrasperRequest &)
	don't call this
Protected Attributes
unsigned int	requestID
Private Types
typedef unsigned int	GrasperVerbosity_t
Private Attributes
PlannerObstacle *	objectPlannerObstacle
	The planner obstacle used when we treat the manipulating object as an obstacle to the planner.
Friends
class	Grasper

Member Typedef Documentation

typedef unsigned int GrasperRequest::GrasperVerbosity_t [private]

Definition at line 31 of file GrasperRequest.h.

typedef Planner::NodeType_t GrasperRequest::NodeType_t

Definition at line 23 of file GrasperRequest.h.

typedef NodeType_t::NodeValue_t GrasperRequest::NodeValue_t

Definition at line 26 of file GrasperRequest.h.

typedef ShapeSpacePlanner2DR<NumArmJoints> GrasperRequest::Planner

Definition at line 22 of file GrasperRequest.h.

typedef PlannerObstacle2D GrasperRequest::PlannerObstacle

Definition at line 24 of file GrasperRequest.h.

Member Enumeration Documentation

enum GrasperRequest::GrasperErrorType_t

What error is the Grasper going to return.

Enumerator:

noError
someError	Generic error will match anything but noError in a GrasperTrans.
invalidRequest
noGraspState
noGraspPath
noTargetState
noTargetPath
noRestPath
badGrasp
badMove
pickUpUnreachable
dropOffUnreachable

Definition at line 57 of file GrasperRequest.h.

enum GrasperRequest::GrasperPathType_t

What path we want to return in the GrasperEvent.

Enumerator:

noPath	Don't return any path.
moveFree	Return the unconstrained path to acquire object.
moveConstrained	Return the constrained path to move object to targetLocation.
disengage	Return the path to disengage from the object and move the arm to the rest position.

Definition at line 73 of file GrasperRequest.h.

enum GrasperRequest::GrasperRequestType_t

What we're asking the Grasper to do.

Enumerator:

checkGraspable	Check whether object is graspable; don't actually move.
checkMovable	Check whether object can be moved to targetLocation; don't actually move.
checkRestable	Check whether the arm can be moved to the resting position; don't actually move.
computeReach	Compute and return a path for the arm to reach to a point.
reach	Move the arm to targetLocation, then rest.
grasp	Approach and grasp object, then rest the arm.
touch	Grasp the object but don't rest the arm afterwards.
release	Release and disengage from whatever the arm is holding.
moveTo	Move object to targetLocation.
rest	Move the arm (and possibly the body) to a resting position.
sweep	Sweep arm along an arc (to clear a region of the workspace).
computeMove	Compute and return a path for moving object to targetLocation.
computeRest	Compute and return a path for moving the arm to the resting position.

Definition at line 39 of file GrasperRequest.h.

enum GrasperRequest::GrasperRestType_t

The kind of rest state to reach. stationary means none, settleArm moves the arm to the arm configuration in armRestState, settleBodyAndArm does settleArm and resets the ground plane.

Enumerator: