Grasper Class Reference
The Grasper is the member of the Tekkotsu Crew responsible for arm-based manipulation. More...
#include <Grasper.h>
Detailed Description
The Grasper is the member of the Tekkotsu Crew responsible for arm-based manipulation.
The Grasper can make requests to the Pilot, MapBuilder, and Lookout.
The quintessential Grasper operation is moveTo, which picks up an object, transports it to a destination, and deposits it there. Depending on the type of robot, arm, and gripper, and the locations of the object and destination point, a grasper request might involve moving the robot's body as well as the arm.
The moveTo operation has six phases:
- Approach: Get the robot close to the object. Then position the arm so it's ready to grab the object.
- Grasp: Close the fingers around the object and verify that it is under control of the gripper. May involve moving the object and visual verification.
- Transport: Carry or drag the object to a location near the destination. May involve lifting the object, or repositioning the arm prior to moving the body.
- Deliver: Place the object at its destination.
- Release: Let go of the object and verify that it is placed properly.
- Withdraw: retract the arm and/or move the body away from the object.
Definition at line 71 of file Grasper.h.
Classes | |
| class | ArmGrasp |
| Close fingers to grasp the object. More... | |
| class | ArmNudge |
| Move the object to test that it was grasped successfully. More... | |
| class | ArmPulse |
| Set or clear gripper pulsing to prevent load errors. More... | |
| class | ArmRaise |
| Raise the object for transport. More... | |
| class | CloseTheGripper |
| Close the gripper. More... | |
| class | DoArmApproach |
| Execute arm motion to get fingers around the object. More... | |
| class | DoArmDeliver |
| Execute arm motion to deposit the object at its destination. More... | |
| class | DoBodyApproach |
| Execute body motion to approach the object. More... | |
| class | DoBodyApproach2 |
| For Calliope2SP: move body instead of arm to acquire the object. More... | |
| class | DoBodyApproach3 |
| For Calliope2SP: move body instead of arm to acquire the object. More... | |
| class | DoBodyTransport |
| Execute body move for dropoff. More... | |
| class | DoWithdraw |
| DoWithdraw from the object. More... | |
| class | FindObj |
| Re-acquire object on local map after moving the body. More... | |
| class | FingersApproach |
| Open fingers far enough to accomodate object. More... | |
| class | GrasperFailed |
| Report failure of the grasper request via a GrasperEvent. More... | |
| class | GrasperSucceeded |
| Report successful completion of the grasper request via a GrasperEvent. More... | |
| class | IfRequestIs |
| class | MoveArm |
| Moves the body. More... | |
| class | NextRequest |
| Move on to the next grasper request. More... | |
| class | OpenTheGripper |
| Open the gripper. More... | |
| class | PathPlanConstrained |
| Plan a constrained path. More... | |
| class | PathPlanToRest |
| Plan a path to the rest state. More... | |
| class | PlanArmApproach |
| Plan arm motion to get fingers around the object. More... | |
| class | PlanArmDeliver |
| Plan arm move to dropoff location. More... | |
| class | PlanBodyApproach |
| Plan body motion to approach the object. More... | |
| class | PlanBodyTransport |
| Plan body move to dropoff location. More... | |
| class | ReleaseArm |
| Release the object. More... | |
| class | Rest |
| Moves the arm to the rest state. More... | |
| class | SetJoint |
| Set joint to specified angle. More... | |
| class | SignalGraspError |
| Signal the failure of a grasp sub-statemachine via a signalTrans. More... | |
| class | Verify |
| Verify that object is grasped. More... | |
Public Types | |
| typedef ShapeSpacePlanner3DR < NumArmJoints-2 > | ArmPlanner |
| typedef PlannerObstacle3D | PlannerObstacleG |
| typedef ArmPlanner::NodeType_t | NodeType_t |
| typedef NodeType_t::NodeValue_t | NodeValue_t |
| typedef unsigned int | GrasperVerbosity_t |
Public Member Functions | |
| Grasper () | |
| virtual void | setup () |
| virtual void | preStart () |
| unsigned int | executeRequest (const GrasperRequest &req, BehaviorBase *requestingBehavior) |
| User-level interface for queueing a request to the Grasper. | |
| void | executeRequest () |
| Executes the next pending request, i.e., the one at the front of the queue. | |
| void | dispatch () |
| Dispatches on the request type, running the appropriate state machine; called by executeRequest(). | |
| void | doStop () |
| MotionManager::MC_ID | getArmId () const |
| void | computeGoalStates (IKSolver::Point &toPt, std::vector< std::pair< float, float > > &rangesX, std::vector< std::pair< float, float > > &rangesY, std::vector< std::pair< float, float > > &rangesZ, float resolution, std::vector< NodeValue_t > &goals, const IKSolver::Point &offset) |
| Generates potential goal states around a point, rotating the approach orientation. | |
| void | checkGoalCandidate (const IKSolver::Point &offset, const IKSolver::Rotation &ori, KinematicJoint *effector, const IKSolver::Point &position, std::vector< NodeValue_t > &goals) |
| Helper function for computeGoalStates. | |
Static Public Member Functions | |
| static void | getCurrentState (NodeValue_t ¤t, KinematicJoint *endEffector=NULL) |
| Gets current state of robot's arm from the end effector given. | |
Static Public Attributes | |
| static const unsigned int | numPlannerJoints = NumArmJoints-2 |
| static const GrasperVerbosity_t | GVstart = 1<<0 |
| static const GrasperVerbosity_t | GVexecuteRequest = 1<<1 |
| static const GrasperVerbosity_t | GVnumObstacles = 1<<2 |
| static const GrasperVerbosity_t | GVexecutePath = 1<<3 |
| static const GrasperVerbosity_t | GVcomputeGoals = 1<<4 |
| static const GrasperVerbosity_t | GVsetJoint = 1<<5 |
| static GrasperRequest * | curReq = NULL |
| The request itself. | |
| static GrasperVerbosity_t | verbosity = -1U |
Protected Attributes | |
| std::queue< GrasperRequest * > | requests |
| Queue of pending Grasper requests. | |
| unsigned int | idCounter |
| Counter for assigning a unique id to each Grasper request. | |
| MotionManager::MC_ID | armId |
| id for shared ArmMC | |
Private Member Functions | |
| GenericRRTBase::PlannerResult2D | planBodyPath (const Point &targPt, AngTwoPi approachOrientation, const fmat::Column< 3 > &baseOffset, Shape< AgentData > &pose, float radius, bool isFinalApproach) |
| Plan an approach or transport path for the body. | |
| Grasper (const Grasper &o) | |
| Copy constructor; do not use. | |
| void | operator= (const Grasper &o) |
| Assignment operator; do not use. | |
Private Attributes | |
| StateNode * | startmain_ |
| The main reach-grasp-move-release-rest sequence. | |
Member Typedef Documentation
| typedef ShapeSpacePlanner3DR<NumArmJoints-2> ArmPlanner |
| typedef unsigned int GrasperVerbosity_t |
| typedef ArmPlanner::NodeType_t NodeType_t |
| typedef NodeType_t::NodeValue_t NodeValue_t |
| typedef PlannerObstacle3D PlannerObstacleG |
Constructor & Destructor Documentation
Member Function Documentation
| void checkGoalCandidate | ( | const IKSolver::Point & | offset, | |
| const IKSolver::Rotation & | ori, | |||
| KinematicJoint * | effector, | |||
| const IKSolver::Point & | position, | |||
| std::vector< NodeValue_t > & | goals | |||
| ) |
Helper function for computeGoalStates.
Definition at line 1127 of file Grasper.cc.
| void computeGoalStates | ( | IKSolver::Point & | toPt, | |
| std::vector< std::pair< float, float > > & | rangesX, | |||
| std::vector< std::pair< float, float > > & | rangesY, | |||
| std::vector< std::pair< float, float > > & | rangesZ, | |||
| float | resolution, | |||
| std::vector< NodeValue_t > & | goals, | |||
| const IKSolver::Point & | offset | |||
| ) |
Generates potential goal states around a point, rotating the approach orientation.
Definition at line 1060 of file Grasper.cc.
| void dispatch | ( | ) |
Dispatches on the request type, running the appropriate state machine; called by executeRequest().
Definition at line 1227 of file Grasper.cc.
| void doStop | ( | ) | [virtual] |
Reimplemented from BehaviorBase.
Definition at line 1273 of file Grasper.cc.
| void executeRequest | ( | ) |
Executes the next pending request, i.e., the one at the front of the queue.
Definition at line 1188 of file Grasper.cc.
| unsigned int executeRequest | ( | const GrasperRequest & | req, | |
| BehaviorBase * | requestingBehavior | |||
| ) |
User-level interface for queueing a request to the Grasper.
Definition at line 1169 of file Grasper.cc.
| MotionManager::MC_ID getArmId | ( | ) | const |
Definition at line 898 of file Grasper.h.
Referenced by setup(), CloseTheGripper::setup(), OpenTheGripper::setup(), DoArmDeliver::setup(), and DoArmApproach::setup().
| void getCurrentState | ( | NodeValue_t & | current, | |
| KinematicJoint * | endEffector = NULL | |||
| ) | [static] |
Gets current state of robot's arm from the end effector given.
Definition at line 1051 of file Grasper.cc.
| void operator= | ( | const Grasper & | o | ) | [private] |
Assignment operator; do not use.
| GenericRRTBase::PlannerResult2D planBodyPath | ( | const Point & | targPt, | |
| AngTwoPi | approachOrientation, | |||
| const fmat::Column< 3 > & | baseOffset, | |||
| Shape< AgentData > & | pose, | |||
| float | radius, | |||
| bool | isFinalApproach = true | |||
| ) | [private] |
Plan an approach or transport path for the body.
Definition at line 23 of file Grasper.cc.
| virtual void preStart | ( | ) | [virtual] |
Reimplemented from BehaviorBase.
| virtual void setup | ( | ) | [virtual] |
Member Data Documentation
MotionManager::MC_ID armId [protected] |
id for shared ArmMC
Definition at line 923 of file Grasper.h.
Referenced by getArmId(), and setup().
GrasperRequest * curReq = NULL [static] |
The request itself.
Definition at line 926 of file Grasper.h.
Referenced by MoveArm::advTime(), NextRequest::doStart(), GrasperFailed::doStart(), GrasperSucceeded::doStart(), IfRequestIs::doStart(), GetOpenGripperFlag::doStart(), GetRestType::doStart(), and Grasper().
const GrasperVerbosity_t GVcomputeGoals = 1<<4 [static] |
const GrasperVerbosity_t GVexecutePath = 1<<3 [static] |
const GrasperVerbosity_t GVexecuteRequest = 1<<1 [static] |
const GrasperVerbosity_t GVnumObstacles = 1<<2 [static] |
const GrasperVerbosity_t GVsetJoint = 1<<5 [static] |
const GrasperVerbosity_t GVstart = 1<<0 [static] |
Definition at line 102 of file Grasper.h.
Referenced by preStart().
unsigned int idCounter [protected] |
const unsigned int numPlannerJoints = NumArmJoints-2 [static] |
std::queue<GrasperRequest*> requests [protected] |
Queue of pending Grasper requests.
Definition at line 921 of file Grasper.h.
Referenced by preStart().
StateNode* startmain_ [private] |
Grasper::GrasperVerbosity_t verbosity = -1U [static] |
Definition at line 927 of file Grasper.h.
Referenced by preStart().
The documentation for this class was generated from the following files:
