GenerateCuboidGraspPoses Class

Given a target GraspableObject and planning details about the arm, generate grasp poses. More...

Declaration

class moveit_pro::behaviors::GenerateCuboidGraspPoses { ... }

Included Headers

#include <generate_cuboid_grasp_poses.hpp>

Base class

class	SharedResourcesNode<BehaviorTreeNodeT>
	The SharedResourcesNode class provides a BehaviorContext object when constructing a BehaviorTree.Cpp node. More...

Public Constructors Index

	GenerateCuboidGraspPoses (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)

Public Member Functions Index

BT::NodeStatus	tick () override

Public Static Functions Index

static BT::PortsList	providedPorts ()
static BT::KeyValueVector	metadata ()

Public Static Attributes Index

static constexpr auto	kPortIDTargetObject = "target_object"
static constexpr auto	kPortIDEndEffectorGroupName = "end_effector_group_name"
static constexpr auto	kPortIDGenerateXAxisGrasps = "generate_x_axis_grasps"
static constexpr auto	kPortIDGenerateYAxisGrasps = "generate_y_axis_grasps"
static constexpr auto	kPortIDGenerateZAxisGrasps = "generate_z_axis_grasps"
static constexpr auto	kPortIDSamplesPerQuadrant = "samples_per_quadrant"
static constexpr auto	kPortIDMaxGraspWidth = "max_grasp_width"
static constexpr auto	kPortIDEEToTCPTransform = "ee_to_tcp_tf"
static constexpr auto	kPortIDGraspPoses = "grasp_poses"

Description

Given a target GraspableObject and planning details about the arm, generate grasp poses.

Data Port Name	Port Type	Object Type	Description
target_object	Input	moveit_studio_vision_msgs::msg::GraspableObject	Cuboid object to grasp, represented as a moveit_studio_vision_msgs/GraspableObject.
end_effector_group_name	Input	std::string	Name of the end effector group.
generate_x_axis_grasps	Input	bool	If true, grasp samples will be generated along the X axis of the target object.
generate_y_axis_grasps	Input	bool	If true, grasp samples will be generated along the Y axis of the target object.
generate_z_axis_grasps	Input	bool	If true, grasp samples will be generated along the Z axis of the target object.
samples_per_quadrant	Input	int	Number of samples to generate for each quadrant of the cuboid.
max_grasp_width	Input	double	Maximum allowed finger width from a grasp.
ee_to_tcp_transform	Input	geometry_msgs::msg::PoseStamped	Transform from the end effector to the tool center point provided as a PoseStamped msg.
grasp_poses	Output	std::vector<geometry_msgs::msg::PoseStamped>	Generated grasp poses.

Definition at line 34 of file generate_cuboid_grasp_poses.hpp.

Public Constructors

GenerateCuboidGraspPoses()

moveit_pro::behaviors::GenerateCuboidGraspPoses::GenerateCuboidGraspPoses (const std::string & name, const BT::NodeConfiguration & config, const std::shared_ptr< BehaviorContext > & shared_resources)

Declaration at line 48 of file generate_cuboid_grasp_poses.hpp, definition at line 35 of file generate_cuboid_grasp_poses.cpp.

Public Member Functions

tick()

BT::NodeStatus moveit_pro::behaviors::GenerateCuboidGraspPoses::tick ()

Declaration at line 55 of file generate_cuboid_grasp_poses.hpp, definition at line 73 of file generate_cuboid_grasp_poses.cpp.

Public Static Functions

metadata()

BT::KeyValueVector moveit_pro::behaviors::GenerateCuboidGraspPoses::metadata ()

static

Declaration at line 53 of file generate_cuboid_grasp_poses.hpp, definition at line 67 of file generate_cuboid_grasp_poses.cpp.

providedPorts()

BT::PortsList moveit_pro::behaviors::GenerateCuboidGraspPoses::providedPorts ()

static

Declaration at line 51 of file generate_cuboid_grasp_poses.hpp, definition at line 41 of file generate_cuboid_grasp_poses.cpp.

Public Static Attributes

kPortIDEEToTCPTransform

constexpr auto moveit_pro::behaviors::GenerateCuboidGraspPoses::kPortIDEEToTCPTransform = "ee_to_tcp_tf"

constexpr static

Definition at line 45 of file generate_cuboid_grasp_poses.hpp.

kPortIDEndEffectorGroupName

constexpr auto moveit_pro::behaviors::GenerateCuboidGraspPoses::kPortIDEndEffectorGroupName = "end_effector_group_name"

constexpr static

Definition at line 39 of file generate_cuboid_grasp_poses.hpp.

kPortIDGenerateXAxisGrasps

constexpr auto moveit_pro::behaviors::GenerateCuboidGraspPoses::kPortIDGenerateXAxisGrasps = "generate_x_axis_grasps"

constexpr static

Definition at line 40 of file generate_cuboid_grasp_poses.hpp.

kPortIDGenerateYAxisGrasps

constexpr auto moveit_pro::behaviors::GenerateCuboidGraspPoses::kPortIDGenerateYAxisGrasps = "generate_y_axis_grasps"

constexpr static

Definition at line 41 of file generate_cuboid_grasp_poses.hpp.

kPortIDGenerateZAxisGrasps

constexpr auto moveit_pro::behaviors::GenerateCuboidGraspPoses::kPortIDGenerateZAxisGrasps = "generate_z_axis_grasps"

constexpr static

Definition at line 42 of file generate_cuboid_grasp_poses.hpp.

kPortIDGraspPoses

constexpr auto moveit_pro::behaviors::GenerateCuboidGraspPoses::kPortIDGraspPoses = "grasp_poses"

constexpr static

Definition at line 46 of file generate_cuboid_grasp_poses.hpp.

kPortIDMaxGraspWidth

constexpr auto moveit_pro::behaviors::GenerateCuboidGraspPoses::kPortIDMaxGraspWidth = "max_grasp_width"

constexpr static

Definition at line 44 of file generate_cuboid_grasp_poses.hpp.

kPortIDSamplesPerQuadrant

constexpr auto moveit_pro::behaviors::GenerateCuboidGraspPoses::kPortIDSamplesPerQuadrant = "samples_per_quadrant"

constexpr static

Definition at line 43 of file generate_cuboid_grasp_poses.hpp.

kPortIDTargetObject

constexpr auto moveit_pro::behaviors::GenerateCuboidGraspPoses::kPortIDTargetObject = "target_object"

constexpr static

Definition at line 38 of file generate_cuboid_grasp_poses.hpp.

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

• generate_cuboid_grasp_poses.hpp
• generate_cuboid_grasp_poses.cpp

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