shadow_planning.hpp File Reference

#include <shadowlibs/shadow_hand.hpp>

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

Functions
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. More...
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. More...
bool	shadow_planning::planToNamedTarget (shadow_finger::Finger &finger, std::string &target_name)
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. More...
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. More...
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. More...
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. More...
bool	shadow_planning::executePlan (shadow_finger::Finger &finger)
void	shadow_planning::executePlanAsync (shadow_finger::Finger &finger)
	Execute plan for a given Finger asynchronously, where multiple Fingers can be executed simultaneously. More...
void	shadow_planning::executePlanAsync (shadow_hand::Hand &hand)