Kodu::VisualGripperMonitorTask Class Reference
#include <GripperVisualMonitorTask.h>
Detailed Description
Definition at line 68 of file GripperVisualMonitorTask.h.
Public Member Functions | |
| VisualGripperMonitorTask (const DualCoding::ShapeRoot &kObjInGripper, const DualCoding::Shape< DualCoding::AprilTagData > &kObjAprilTag) | |
| Constructor. | |
| VisualGripperMonitorTask (const VisualGripperMonitorTask &kTask) | |
| Copy constructor. | |
| ~VisualGripperMonitorTask () | |
| Destructor. | |
| VisualGripperMonitorTask & | operator= (const VisualGripperMonitorTask &kTask) |
| Assignment operator. | |
| virtual bool | canExecute (const KoduWorld &) |
| Checks if the VisualGripperMonitorTask can execute. | |
| virtual void | examineTaskResults () |
| Examines the results from the MapBuilder request to see if the object is still in the gripper. | |
| const DualCoding::ShapeRoot & | getGripperObject () const |
| Returns the object in the robot's gripper. | |
| const PosOrientState & | getLastSuccessfulState () const |
| Returns the last successful state where the object was still in the robot gripper. | |
| virtual const DualCoding::MapBuilderRequest & | getMapBuilderRequest () |
| Returns the MapBuilder request telling the robot where to look at the gripper. | |
| const DualCoding::Point & | getTagCentroid () const |
| Returns the April Tag's centroid (relative to the body when the object is in the gripper). | |
| int | getTagId () const |
| Returns the April Tag's id. | |
| void | relocateTagCentroid (const DualCoding::Point &) |
| Relocates the object's tag (used after manipulation recovery). | |
| virtual bool | taskIsComplete (const KoduWorld &) |
| Checks whether a task is complete. | |
Private Attributes | |
| MatchesObjectTagInGripper | taskPred |
| DualCoding::ShapeRoot | objInGripper |
| The reference to the object in the gripper. | |
| PosOrientState | lastSuccessfulState |
Static Private Attributes | |
| static unsigned int | idCount = 70000 |
| Used to generate id numbers for VisualGripperMonitorTask. | |
Constructor & Destructor Documentation
| Kodu::VisualGripperMonitorTask::VisualGripperMonitorTask | ( | const DualCoding::ShapeRoot & | kObjInGripper, | |
| const DualCoding::Shape< DualCoding::AprilTagData > & | kObjAprilTag | |||
| ) |
Constructor.
Definition at line 71 of file GripperVisualMonitorTask.h.
| Kodu::VisualGripperMonitorTask::VisualGripperMonitorTask | ( | const VisualGripperMonitorTask & | kTask | ) |
Copy constructor.
Definition at line 110 of file GripperVisualMonitorTask.h.
| Kodu::VisualGripperMonitorTask::~VisualGripperMonitorTask | ( | ) |
Destructor.
Definition at line 120 of file GripperVisualMonitorTask.h.
Member Function Documentation
| bool Kodu::VisualGripperMonitorTask::canExecute | ( | const KoduWorld & | kWorldState | ) | [virtual] |
Checks if the VisualGripperMonitorTask can execute.
Implements Kodu::PerceptualTaskBase.
Definition at line 31 of file GripperVisualMonitorTask.cc.
| void Kodu::VisualGripperMonitorTask::examineTaskResults | ( | ) | [virtual] |
Examines the results from the MapBuilder request to see if the object is still in the gripper.
Reimplemented from Kodu::PerceptualTaskBase.
Definition at line 37 of file GripperVisualMonitorTask.cc.
| const DualCoding::ShapeRoot & Kodu::VisualGripperMonitorTask::getGripperObject | ( | ) | const |
Returns the object in the robot's gripper.
Definition at line 58 of file GripperVisualMonitorTask.cc.
Referenced by KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForItemRecovery::LocateLostObject::doStart().
| const PosOrientState & Kodu::VisualGripperMonitorTask::getLastSuccessfulState | ( | ) | const |
Returns the last successful state where the object was still in the robot gripper.
Definition at line 62 of file GripperVisualMonitorTask.cc.
Referenced by KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForItemRecovery::LocateLostObject::doStart(), and KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForItemRecovery::Reverse::doStart().
| const DualCoding::MapBuilderRequest & Kodu::VisualGripperMonitorTask::getMapBuilderRequest | ( | ) | [virtual] |
Returns the MapBuilder request telling the robot where to look at the gripper.
Reimplemented from Kodu::PerceptualTaskBase.
Definition at line 66 of file GripperVisualMonitorTask.cc.
| const DualCoding::Point & Kodu::VisualGripperMonitorTask::getTagCentroid | ( | ) | const |
Returns the April Tag's centroid (relative to the body when the object is in the gripper).
Definition at line 75 of file GripperVisualMonitorTask.cc.
Referenced by KoduInterpreter::DropActionRunner::ExecuteDrop::LookAtObjectAprilTag::doStart(), and KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForItemRecovery::LocateLostObject::doStart().
| int Kodu::VisualGripperMonitorTask::getTagId | ( | ) | const |
Returns the April Tag's id.
Definition at line 79 of file GripperVisualMonitorTask.cc.
Referenced by KoduInterpreter::DropActionRunner::ExecuteDrop::RecordAprilTagPos::doStart().
| VisualGripperMonitorTask& Kodu::VisualGripperMonitorTask::operator= | ( | const VisualGripperMonitorTask & | kTask | ) |
Assignment operator.
Definition at line 125 of file GripperVisualMonitorTask.h.
| void Kodu::VisualGripperMonitorTask::relocateTagCentroid | ( | const DualCoding::Point & | kNewLocation | ) |
Relocates the object's tag (used after manipulation recovery).
Definition at line 83 of file GripperVisualMonitorTask.cc.
| bool Kodu::VisualGripperMonitorTask::taskIsComplete | ( | const KoduWorld & | kWorldState | ) | [virtual] |
Checks whether a task is complete.
Reimplemented from Kodu::PerceptualTaskBase.
Definition at line 87 of file GripperVisualMonitorTask.cc.
Member Data Documentation
unsigned int Kodu::VisualGripperMonitorTask::idCount = 70000 [static, private] |
Used to generate id numbers for VisualGripperMonitorTask.
Definition at line 163 of file GripperVisualMonitorTask.h.
Definition at line 166 of file GripperVisualMonitorTask.h.
Referenced by examineTaskResults(), getLastSuccessfulState(), operator=(), and VisualGripperMonitorTask().
DualCoding::ShapeRoot Kodu::VisualGripperMonitorTask::objInGripper [private] |
The reference to the object in the gripper.
Definition at line 165 of file GripperVisualMonitorTask.h.
Referenced by getGripperObject(), operator=(), and VisualGripperMonitorTask().
Definition at line 164 of file GripperVisualMonitorTask.h.
Referenced by examineTaskResults(), getMapBuilderRequest(), getTagCentroid(), getTagId(), operator=(), relocateTagCentroid(), and VisualGripperMonitorTask().
The documentation for this class was generated from the following files:
