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 22 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, lostObject, noDeliverState, noDeliverPath, noRestPath, badGrasp, badMove, pickUpUnreachable, dropOffUnreachable }
	What error is the Grasper going to return. More...
enum	GraspStrategy_t { unconstrainedGrasp, sideGrasp, overheadGrasp }
	The grasp strategy to use. More...
enum	GrasperPathType_t { noPath, doApproach, doDeliver, doRelease }
	What path are we talking about, e.g., 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...
enum	GrasperVerifyStrategy_t { verifyNone, verifyAprilTag, verifyDomino, verifyCross, verifyLoad, verifyUser }
	How to verify a grasp. More...
typedef ShapeSpacePlanner3DR < NumArmJoints-2 >	Planner
typedef PlannerObstacle3D	PlannerObstacleG
typedef Planner::NodeType_t	NodeType_t
typedef NodeType_t::NodeValue_t	NodeValue_t
Public Member Functions
	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.
GraspStrategy_t	graspStrategy
	Type of grasp strategy to use.
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.
unsigned int	objectFeature
	Object-dependent enumerated type, e.g., "high end" or "low end" for a domino.
std::vector< Point >	objectGraspPoints
	Points on the object where a grasp could be made (relative to its centroid); currently unused.
AngTwoPi	approachOrientation
	Orientation with which to approach the object.
GrasperVerifyStrategy_t	verifyStrategy
	Grasp verify strategy.
bool(*	verifyGraspFunction )(ShapeRoot &)
	User-supplied function to verify object has been grasped.
ShapeRoot	targetLocation
	Where to place the object.
AngTwoPi	targetOrientation
	Orientation at which to place the object.
bool	allowBodyMotion
	If true, the Grasper can issue Pilot requests to move the body.
float	gripPressure
	Desired grip pressure (units are robot-dependent).
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.
unsigned 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.
AdmissibilityPredicate < NodeType_t > *	predicate
	The desired predicate to use during planning for moveConstrainedPath.
GrasperPathType_t	populateEventPathWith
	What kind of path to return with the GrasperEvent.
PilotRequest	pilotreq
	Template to use for Pilot requests for body motion.
MapBuilderRequest *	mapreq
	MapBuilder request to reacquire the object after motion.
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.
Static Public Attributes
static const unsigned int	numPlannerJoints = NumArmJoints-2
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
Shape< AgentData >	approachPose
	Robot's desired location and heading for reaching to an object.
Shape< AgentData >	transportPose
	Robot's desired location and heading for transporting the object.
Shape< AgentData >	withdrawPose
	Robot's desired location and heading for withdrawing.
std::vector< NodeValue_t >	approachPath
	The "approach" arm path, which is not predicate-constrained.
std::vector< NodeValue_t >	deliverPath
	The predicate-constrained arm path for moving an object.
std::vector< NodeValue_t >	releasePath
	The "release" arm path, which is not predicate-constrained.
BehaviorBase *	requestingBehavior
	The Behavior making this request; used for posting grasper events.
GrasperVerbosity_t	verbosity
	Verbosity value computed by Grasper::executeRequest.
Friends
class	Grasper

Member Typedef Documentation

typedef unsigned int GrasperRequest::GrasperVerbosity_t [private]

Definition at line 56 of file GrasperRequest.h.

typedef Planner::NodeType_t GrasperRequest::NodeType_t

Definition at line 50 of file GrasperRequest.h.

typedef NodeType_t::NodeValue_t GrasperRequest::NodeValue_t

Definition at line 51 of file GrasperRequest.h.

typedef ShapeSpacePlanner3DR<NumArmJoints-2> GrasperRequest::Planner

Definition at line 25 of file GrasperRequest.h.

typedef PlannerObstacle3D GrasperRequest::PlannerObstacleG

Definition at line 26 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	IK cannot get the gripper around the object.
noGraspPath	No unobstructed path to the grasp configuration.
lostObject	Lost sight of the object.
noDeliverState
noDeliverPath
noRestPath
badGrasp
badMove
pickUpUnreachable
dropOffUnreachable

Definition at line 79 of file GrasperRequest.h.

enum GrasperRequest::GrasperPathType_t

What path are we talking about, e.g., to return in the GrasperEvent.

Enumerator:

noPath	Don't return any path.
doApproach	Return the unconstrained path to object.
doDeliver	Return the constrained path to move object to targetLocation.
doRelease	Return the path to disengage from the object and move the arm to the rest position.

Definition at line 103 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 61 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:

stationary
settleArm
settleBodyAndArm

Definition at line 111 of file GrasperRequest.h.

enum GrasperRequest::GrasperVerifyStrategy_t

How to verify a grasp.

Enumerator:

verifyNone	Don't try to verify the grasp,.
verifyAprilTag	Check for an AprilTag in the gripper.
verifyDomino	Check for a domino in the gripper.
verifyCross	Check for a cross in the gripper.
verifyLoad	Verify by gripper load signal.
verifyUser	User will supply a verify function.

Definition at line 118 of file GrasperRequest.h.

enum GrasperRequest::GraspStrategy_t

The grasp strategy to use.

Enumerator:

unconstrainedGrasp	Any orientation.
sideGrasp	Side approach: fingers parallel to the ground.
overheadGrasp	Overhead approach: fingers perpendicular to the ground.

Definition at line 96 of file GrasperRequest.h.

Constructor & Destructor Documentation

GrasperRequest::GrasperRequest ( GrasperRequestType_t _type )

Constructor.

Definition at line 9 of file GrasperRequest.cc.

GrasperRequest::GrasperRequest ( const GrasperRequest & req )

Copy constructor.

Definition at line 84 of file GrasperRequest.cc.

Member Function Documentation

GrasperRequest& GrasperRequest::operator= ( const GrasperRequest & ) [protected]

don't call this

GrasperRequest::GrasperErrorType_t GrasperRequest::validateRequest ( )

Validate the GrasperRequest and return an error code if there is a problem.

Definition at line 128 of file GrasperRequest.cc.

Referenced by Grasper::executeRequest().

Friends And Related Function Documentation

friend class Grasper [friend]

Definition at line 54 of file GrasperRequest.h.

Member Data Documentation

bool GrasperRequest::allowBodyMotion

If true, the Grasper can issue Pilot requests to move the body.

Definition at line 196 of file GrasperRequest.h.

Referenced by Grasper::PlanBodyTransport::doStart(), Grasper::PlanBodyApproach::doStart(), and GrasperRequest().

float GrasperRequest::angleResolution

Resolution of angles to use within gripperAngleRanges.

Definition at line 214 of file GrasperRequest.h.

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

AngTwoPi GrasperRequest::approachOrientation

Orientation with which to approach the object.

Definition at line 181 of file GrasperRequest.h.

Referenced by Grasper::PlanBodyApproach::doStart().

std::vector<NodeValue_t> GrasperRequest::approachPath [private]

The "approach" arm path, which is not predicate-constrained.

Definition at line 251 of file GrasperRequest.h.

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

Shape<AgentData> GrasperRequest::approachPose [private]

Robot's desired location and heading for reaching to an object.

Definition at line 242 of file GrasperRequest.h.

Referenced by Grasper::DoBodyApproach::doStart(), and Grasper::PlanBodyApproach::doStart().

NodeValue_t GrasperRequest::armRestState

The rest arm configuration.

Definition at line 146 of file GrasperRequest.h.

Referenced by Grasper::PathPlanToRest::doStart(), and GrasperRequest().

float GrasperRequest::armTimeFactor

Factor to change how fast arm movements will be executed.

Definition at line 166 of file GrasperRequest.h.

Referenced by Grasper::MoveArm::advTime(), and validateRequest().

GrasperVerbosity_t GrasperRequest::clearVerbosity

Verbosity elements to force off.

Definition at line 149 of file GrasperRequest.h.

Referenced by Grasper::executeRequest().

std::vector<NodeValue_t> GrasperRequest::deliverPath [private]

The predicate-constrained arm path for moving an object.

Definition at line 254 of file GrasperRequest.h.

Referenced by Grasper::GrasperSucceeded::doStart(), Grasper::MoveArm::doStart(), Grasper::PathPlanToRest::doStart(), and Grasper::PlanArmDeliver::doStart().

bool GrasperRequest::displayPath

If true, the planned path is displayed in the shape space.

Definition at line 235 of file GrasperRequest.h.

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

bool GrasperRequest::displayTree

If true, the RRT search tree is displayed in the shape space.

Definition at line 238 of file GrasperRequest.h.

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

unsigned int GrasperRequest::effectorOffset

Offset of the end effector in the Kinematic chain to use (typically GripperFrameOffset).

Definition at line 154 of file GrasperRequest.h.

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

std::vector<ShapeRoot> GrasperRequest::envObstacles

List of obstacles in the environment.

Definition at line 220 of file GrasperRequest.h.

GraspStrategy_t GrasperRequest::graspStrategy

Type of grasp strategy to use.

Definition at line 140 of file GrasperRequest.h.

Referenced by Grasper::checkGoalCandidate().

std::vector<std::pair<float, float> > GrasperRequest::gripperAngleRangesX

Vector of ranges of egocentric angles in which the gripper is allowed to end up.

Definition at line 202 of file GrasperRequest.h.

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

std::vector<std::pair<float, float> > GrasperRequest::gripperAngleRangesY

Vector of ranges of egocentric angles in which the gripper is allowed to end up.

Definition at line 205 of file GrasperRequest.h.

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

std::vector<std::pair<float, float> > GrasperRequest::gripperAngleRangesZ

Vector of ranges of egocentric angles in which the gripper is allowed to end up.

Definition at line 208 of file GrasperRequest.h.

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

float GrasperRequest::gripPressure

Desired grip pressure (units are robot-dependent).

Definition at line 199 of file GrasperRequest.h.

Referenced by Grasper::ArmGrasp::doStart(), and Grasper::Verify::CheckGripperLoad::doStart().

MapBuilderRequest* GrasperRequest::mapreq

MapBuilder request to reacquire the object after motion.

Definition at line 232 of file GrasperRequest.h.

Referenced by Grasper::FindObj::doStart().

unsigned int GrasperRequest::maxNumberOfAngles

Maximum number of angles to allow the gripper to have in angle ranges.

Definition at line 211 of file GrasperRequest.h.

Referenced by Grasper::computeGoalStates().

const unsigned int GrasperRequest::numPlannerJoints = NumArmJoints-2 [static]

Definition at line 27 of file GrasperRequest.h.

Referenced by GrasperRequest().

ShapeRoot GrasperRequest::object

The object to manipulate.

Definition at line 172 of file GrasperRequest.h.

unsigned int GrasperRequest::objectFeature

Object-dependent enumerated type, e.g., "high end" or "low end" for a domino.

Definition at line 175 of file GrasperRequest.h.

Referenced by Grasper::Verify::CheckDomino::doStart(), Grasper::PlanArmApproach::doStart(), and Grasper::PlanBodyApproach::doStart().

std::vector<Point> GrasperRequest::objectGraspPoints

Points on the object where a grasp could be made (relative to its centroid); currently unused.

Definition at line 178 of file GrasperRequest.h.

bool GrasperRequest::openGripperOnRest

Whether to open the gripper upon resting.

Definition at line 169 of file GrasperRequest.h.

Referenced by Grasper::Rest::GetOpenGripperFlag::doStart().

PilotRequest GrasperRequest::pilotreq

Template to use for Pilot requests for body motion.

Definition at line 229 of file GrasperRequest.h.

Referenced by Grasper::PlanBodyTransport::doStart(), Grasper::DoBodyApproach::doStart(), Grasper::PlanBodyApproach::doStart(), and Grasper::planBodyPath().

GrasperPathType_t GrasperRequest::populateEventPathWith

What kind of path to return with the GrasperEvent.

Definition at line 226 of file GrasperRequest.h.

Referenced by Grasper::GrasperSucceeded::doStart().

AdmissibilityPredicate<NodeType_t>* GrasperRequest::predicate

The desired predicate to use during planning for moveConstrainedPath.

Definition at line 223 of file GrasperRequest.h.

Referenced by Grasper::PathPlanConstrained::doStart(), and GrasperRequest().

std::vector<NodeValue_t> GrasperRequest::releasePath [private]

The "release" arm path, which is not predicate-constrained.

Definition at line 257 of file GrasperRequest.h.

Referenced by Grasper::GrasperSucceeded::doStart(), Grasper::MoveArm::doStart(), and Grasper::PathPlanToRest::doStart().

unsigned int GrasperRequest::requestID [protected]

Definition at line 266 of file GrasperRequest.h.

Referenced by Grasper::executeRequest().

BehaviorBase* GrasperRequest::requestingBehavior [private]

The Behavior making this request; used for posting grasper events.

Definition at line 260 of file GrasperRequest.h.

Referenced by Grasper::GrasperFailed::doStart(), Grasper::GrasperSucceeded::doStart(), and Grasper::executeRequest().

GrasperRequestType_t GrasperRequest::requestType

The type of this Grasper request.

Definition at line 137 of file GrasperRequest.h.

Referenced by Grasper::GrasperFailed::doStart(), Grasper::GrasperSucceeded::doStart(), Grasper::IfRequestIs::doStart(), Grasper::executeRequest(), and validateRequest().

GrasperRestType_t GrasperRequest::restType

The rest type for this request.

Definition at line 143 of file GrasperRequest.h.

Referenced by Grasper::Rest::GetRestType::doStart(), Grasper::PathPlanToRest::doStart(), and GrasperRequest().

float GrasperRequest::rrtInflation

The amount to inflate obstacles for safe planning (mm).

Definition at line 160 of file GrasperRequest.h.

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

NodeValue_t GrasperRequest::rrtInterpolationStep

The amount to move each joint while extending.

Definition at line 163 of file GrasperRequest.h.

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

unsigned int GrasperRequest::rrtMaxIterations

The maximum number of iterations the RRT should undergo.

Definition at line 157 of file GrasperRequest.h.

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

GrasperVerbosity_t GrasperRequest::setVerbosity

Verbosity elements to force on.

Definition at line 148 of file GrasperRequest.h.

Referenced by Grasper::executeRequest().

std::vector<ShapeRoot> GrasperRequest::sweepObjects

vector of objects to be swept

Definition at line 217 of file GrasperRequest.h.

ShapeRoot GrasperRequest::targetLocation

Where to place the object.

Definition at line 190 of file GrasperRequest.h.

Referenced by Grasper::PathPlanConstrained::doStart(), Grasper::PlanBodyTransport::doStart(), Grasper::executeRequest(), and validateRequest().

AngTwoPi GrasperRequest::targetOrientation

Orientation at which to place the object.

Definition at line 193 of file GrasperRequest.h.

Referenced by Grasper::planBodyPath().

Shape<AgentData> GrasperRequest::transportPose [private]

Robot's desired location and heading for transporting the object.

Definition at line 245 of file GrasperRequest.h.

Referenced by Grasper::DoBodyTransport::doStart(), and Grasper::PlanBodyTransport::doStart().

GrasperVerbosity_t GrasperRequest::verbosity [private]

Verbosity value computed by Grasper::executeRequest.

Definition at line 263 of file GrasperRequest.h.

Referenced by Grasper::computeGoalStates(), Grasper::MoveArm::doStart(), Grasper::executeRequest(), and Grasper::SetJoint::moveJoint().

bool(* GrasperRequest::verifyGraspFunction)(ShapeRoot &)

User-supplied function to verify object has been grasped.

Definition at line 187 of file GrasperRequest.h.

Referenced by Grasper::Verify::CheckUserVerify::doStart(), and validateRequest().

GrasperVerifyStrategy_t GrasperRequest::verifyStrategy

Grasp verify strategy.

Definition at line 184 of file GrasperRequest.h.

Referenced by Grasper::Verify::VerifyDispatch::doStart(), and validateRequest().

Shape<AgentData> GrasperRequest::withdrawPose [private]

Robot's desired location and heading for withdrawing.

Definition at line 248 of file GrasperRequest.h.

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

GrasperRequest Class Reference

Detailed Description

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Private Types

Private Attributes

Friends

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation