Utility functions for planning and execution routines to control the ShadowHand. More...

Classes
struct	PlanningOptions
	Struct to set planning parameters for MoveIt planning. More...

Functions
geometry_msgs::Pose	getRandomPose (moveit::planning_interface::MoveGroupInterface &move_group_interface, std::string &frame_name)
	Construct random target pose for a given planning group. More...

bool	planToNamedTarget (shadow_planning::PlanningOptions &options, moveit::planning_interface::MoveGroupInterface &move_group_interface, std::string &target_name, moveit::planning_interface::MoveGroupInterface::Plan &plan)
	Construct plan to a given "named" target, these are obtained from predefined RViz names. More...

bool	planToNamedTarget (shadow_finger::Finger &finger, std::string &target_name)

bool	planToPoseTarget (shadow_planning::PlanningOptions &options, moveit::planning_interface::MoveGroupInterface &move_group_interface, geometry_msgs::Pose &target_pose, std::string &reference_frame, moveit::planning_interface::MoveGroupInterface::Plan &plan, std::string &end_effector_name)
	Construct plan to a given Pose target. More...

bool	planToJointTargets (shadow_planning::PlanningOptions &options, moveit::planning_interface::MoveGroupInterface &move_group_interface, std::string &reference_frame, moveit::planning_interface::MoveGroupInterface::Plan &plan, std::map< std::string, double > &joint_targets)
	Construct plan to given Joint target. More...

void	moveFingerJoints (shadow_finger::Finger &finger, std::vector< double > &targetJointAngles)
	Move all joints in fingers by given angle (in degrees). Directly use joint publishers to set target commands. More...

bool	executePlan (std::vector< ros::Publisher > &controller_pubs, moveit::planning_interface::MoveGroupInterface::Plan &plan)
	Execute plan for a given plan given its list of controllers. More...

bool	executePlan (shadow_finger::Finger &finger)

void	executePlanAsync (shadow_finger::Finger &finger)
	Execute plan for a given Finger asynchronously, where multiple Fingers can be executed simultaneously. More...

void	executePlanAsync (shadow_hand::Hand &hand)

Detailed Description

Utility functions for planning and execution routines to control the ShadowHand.

Contains PlanningOptions to set necessary parameters for planning.

shadow_planning.hpp "include/shadowlibs/shadow_planning.hpp"

shadow_planning_options.hpp "include/shadowlibs/shadow_planning_options.hpp"

Function Documentation

bool shadow_planning::executePlan	(	std::vector< ros::Publisher > &	controller_pubs,
		moveit::planning_interface::MoveGroupInterface::Plan &	plan
	)

Execute plan for a given plan given its list of controllers.

Parameters

controller_pubs	The list of controller publishers for execution
plan	The plan to be executed

Returns: Execution success or failure

bool shadow_planning::executePlan ( shadow_finger::Finger & finger )

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

void shadow_planning::executePlanAsync ( shadow_finger::Finger & finger )

Execute plan for a given Finger asynchronously, where multiple Fingers can be executed simultaneously.

Parameters

finger The Finger whose plan is to be executed

void shadow_planning::executePlanAsync ( shadow_hand::Hand & hand )

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

geometry_msgs::Pose shadow_planning::getRandomPose	(	moveit::planning_interface::MoveGroupInterface &	move_group_interface,
		std::string &	frame_name
	)

Construct random target pose for a given planning group.

Parameters

move_group_interface	The MoveGroup to generate pose for
frame_name	The name of the reference frame

Returns: The generated random pose

void shadow_planning::moveFingerJoints	(	shadow_finger::Finger &	finger,
		std::vector< double > &	targetJointAngles
	)

Move all joints in fingers by given angle (in degrees). Directly use joint publishers to set target commands.

Parameters

finger	The Finger object whose joints are to be controlled
targetJointAngles	The target joints angles for each joint in finger

bool shadow_planning::planToJointTargets	(	shadow_planning::PlanningOptions &	options,
		moveit::planning_interface::MoveGroupInterface &	move_group_interface,
		std::string &	reference_frame,
		moveit::planning_interface::MoveGroupInterface::Plan &	plan,
		std::map< std::string, double > &	joint_targets
	)

Construct plan to given Joint target.

Parameters

options	shadow_planning::PlanningOptions object for computing the plan
move_group_interface	The MoveGroup for which to plan
reference_frame	The frame of reference for planning
plan	The reference to the plan, which will be populated
joint_targets	Map from joint name to the target value

Returns: Planning success or failure boolean

bool shadow_planning::planToNamedTarget	(	shadow_planning::PlanningOptions &	options,
		moveit::planning_interface::MoveGroupInterface &	move_group_interface,
		std::string &	target_name,
		moveit::planning_interface::MoveGroupInterface::Plan &	plan
	)

Construct plan to a given "named" target, these are obtained from predefined RViz names.

Parameters

options	The shadow_planning::PlanningOptions object for computing the plan
move_group_interface	The MoveGroup for which to plan
target_name	The named target
plan	The reference to the plan, which will be populated

Returns: Planning success or failure boolean

bool shadow_planning::planToNamedTarget	(	shadow_finger::Finger &	finger,
		std::string &	target_name
	)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

bool shadow_planning::planToPoseTarget	(	shadow_planning::PlanningOptions &	options,
		moveit::planning_interface::MoveGroupInterface &	move_group_interface,
		geometry_msgs::Pose &	target_pose,
		std::string &	reference_frame,
		moveit::planning_interface::MoveGroupInterface::Plan &	plan,
		std::string &	end_effector_name
	)

Construct plan to a given Pose target.

Parameters

options	The shadow_planning::PlanningOptions object for computing the plan
move_group_interface	The MoveGroup for which to plan
target_pose	The target pose
reference_frame	The frame of reference for planning
plan	The reference to the plan, which will be populated
end_effector_name	The name of the end-effector for which plan is computed

Returns: Planning success or failure boolean

Classes

Functions

Detailed Description

Function Documentation