Grasper Class Reference

The Grasper is the member of the Tekkotsu Crew responsible for arm-based manipulation. More...

#include <Grasper.h>

Inheritance diagram for Grasper:

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.

List of all members.

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 ()
	This is called by start() when it should setup the network of subnodes (if any).
virtual void	preStart ()
	Called by start() before the doStart(), allows superclasses to do some initialization startup preceeding subclass customization.
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 ()
	Delegate function for subclasses to be notified when the behavior starts up.
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 &current, 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> Grasper::ArmPlanner

Definition at line 74 of file Grasper.h.

typedef unsigned int Grasper::GrasperVerbosity_t

Definition at line 101 of file Grasper.h.

typedef ArmPlanner::NodeType_t Grasper::NodeType_t

Definition at line 98 of file Grasper.h.

typedef NodeType_t::NodeValue_t Grasper::NodeValue_t

Definition at line 99 of file Grasper.h.

typedef PlannerObstacle3D Grasper::PlannerObstacleG

Definition at line 75 of file Grasper.h.

Constructor & Destructor Documentation

Grasper::Grasper ( )

Definition at line 752 of file Grasper.h.

Grasper::Grasper ( const Grasper & o ) [private]

Copy constructor; do not use.

Member Function Documentation

void Grasper::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 1218 of file Grasper.cc.

Referenced by computeGoalStates().

void Grasper::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 1151 of file Grasper.cc.

void Grasper::dispatch ( )

Dispatches on the request type, running the appropriate state machine; called by executeRequest().

Definition at line 1318 of file Grasper.cc.

Referenced by executeRequest().

void Grasper::doStop ( ) [virtual]

Delegate function for subclasses to be notified when the behavior starts up.

May be overridden to cleanup when the behavior is shutting down. However events will automatically be unsubscribed, and by using addMotion(), motions will automatically be removed by stop(), so you may not need any cleanup.

Reimplemented from BehaviorBase.

Definition at line 1364 of file Grasper.cc.

void Grasper::executeRequest ( )

Executes the next pending request, i.e., the one at the front of the queue.

Definition at line 1279 of file Grasper.cc.

Referenced by executeRequest().

unsigned int Grasper::executeRequest	(	const GrasperRequest &	req,
		BehaviorBase *	requestingBehavior
	)

User-level interface for queueing a request to the Grasper.

Definition at line 1260 of file Grasper.cc.

MotionManager::MC_ID Grasper::getArmId ( ) const

Definition at line 916 of file Grasper.h.

Referenced by setup(), Grasper::CloseTheGripper::setup(), Grasper::OpenTheGripper::setup(), Grasper::DoArmDeliver::setup(), and Grasper::DoArmApproach::setup().

void Grasper::getCurrentState	(	NodeValue_t &	current,
		KinematicJoint *	endEffector = `NULL`
	)			`[static]`

Gets current state of robot's arm from the end effector given.

Definition at line 1142 of file Grasper.cc.

Referenced by Grasper::PathPlanToRest::doStart(), Grasper::PathPlanConstrained::doStart(), and Grasper::PlanArmApproach::doStart().

void Grasper::operator= ( const Grasper & o ) [private]

Assignment operator; do not use.

GenericRRTBase::PlannerResult2D Grasper::planBodyPath	(	const Point &	targPt,
		AngTwoPi	approachOrientation,
		const fmat::Column< 3 > &	baseOffset,
		Shape< AgentData > &	pose,
		float	radius,
		bool	isFinalApproach = `true`
	)			`[private]`