Interface for a OpenRave connection creator. More...

#include <>>

Inheritance diagram for fawkes::OpenRaveConnector:

Public Member Functions
virtual	~OpenRaveConnector ()
	Virtual empty destructor.
virtual void	start_viewer () const =0
	Start OpenRave viewer.
virtual void	run_planner (OpenRaveRobot *robot=NULL, float sampling=0.01f)=0
	Run planner on previously set target.
virtual void	run_graspplanning (const std::string &target_name, OpenRaveRobot *robot=NULL)=0
	Run graspplanning script for a given target.
virtual OpenRaveEnvironment *	get_environment () const =0
	Get pointer to OpenRaveEnvironment object.
virtual OpenRaveRobot *	get_active_robot () const =0
	Get pointer to currently used OpenRaveRobot object.
virtual void	set_active_robot (OpenRaveRobot *robot)=0
	Set robot to be used.
virtual OpenRaveRobot *	add_robot (const std::string &filename_robot, bool autogenerate_IK)=0
	Add a new robot to the environment, and set it as the currently active one.
virtual void	set_manipulator (OpenRaveRobot robot, OpenRaveManipulator manip, float trans_x=0.f, float trans_y=0.f, float trans_z=0.f, bool calibrate=0)=0
	Set OpenRaveManipulator object for robot, and calculate coordinate-system offsets or set them directly.
virtual void	set_manipulator (OpenRaveManipulator *manip, float trans_x=0.f, float trans_y=0.f, float trans_z=0.f, bool calibrate=0)=0
	Set OpenRaveManipulator object for robot, and calculate coordinate-system offsets or set them directly.
virtual bool	add_object (const std::string &name, const std::string &filename)=0
	Add an object to the environment.
virtual bool	delete_object (const std::string &name)=0
	Remove object from environment.
virtual bool	rename_object (const std::string &name, const std::string &new_name)=0
	Rename object.
virtual bool	move_object (const std::string &name, float trans_x, float trans_y, float trans_z, OpenRaveRobot *robot=NULL)=0
	Move object in the environment.
virtual bool	rotate_object (const std::string &name, float quat_x, float quat_y, float quat_z, float quat_w)=0
	Rotate object by a quaternion.
virtual bool	rotate_object (const std::string &name, float rot_x, float rot_y, float rot_z)=0
	Rotate object along its axis.
virtual bool	attach_object (const std::string &name, OpenRaveRobot *robot=NULL)=0
	Attach a kinbody to the robot.
virtual bool	release_object (const std::string &name, OpenRaveRobot *robot=NULL)=0
	Release a kinbody from the robot.
virtual bool	release_all_objects (OpenRaveRobot *robot)=0
	Release all grabbed kinbodys from the robot.
virtual bool	set_target_object (const std::string &name, OpenRaveRobot *robot, float rot_x=0)=0
	Set an object as the target.

Detailed Description

Interface for a OpenRave connection creator.

Author:: Bahram Maleki-Fard

Definition at line 42 of file openrave_connector.h.

Constructor & Destructor Documentation

virtual fawkes::OpenRaveConnector::~OpenRaveConnector ( )

inlinevirtual

Virtual empty destructor.

Definition at line 46 of file openrave_connector.h.

Member Function Documentation

virtual bool fawkes::OpenRaveConnector::add_object	(	const std::string &	name,
		const std::string &	filename
	)

pure virtual

Add an object to the environment.

Parameters:

name	name that should be given to that object
filename	path to xml file of that object (KinBody)

Returns:: true if successful

Implemented in OpenRaveThread.

virtual OpenRaveRobot* fawkes::OpenRaveConnector::add_robot	(	const std::string &	filename_robot,
		bool	autogenerate_IK
	)

pure virtual

Add a new robot to the environment, and set it as the currently active one.

Parameters:

filename_robot	path to robot's xml file
autogenerate_IK	if true: autogenerate IKfast IK solver for robot

Returns:: pointer to new OpenRaveRobot object

Implemented in OpenRaveThread.

virtual bool fawkes::OpenRaveConnector::attach_object	(	const std::string &	name,
		OpenRaveRobot *	robot = `NULL`
	)

pure virtual

Attach a kinbody to the robot.

Parameters:

name	name of the object
robot	pointer to OpenRaveRobot that the target is set for

Returns:: true if successful

Implemented in OpenRaveThread.

virtual bool fawkes::OpenRaveConnector::delete_object ( const std::string & name )

pure virtual

Remove object from environment.

Parameters:

name	name of the object

Returns:: true if successful

Implemented in OpenRaveThread.

virtual OpenRaveRobot* fawkes::OpenRaveConnector::get_active_robot ( ) const

pure virtual

Get pointer to currently used OpenRaveRobot object.

Returns:: pointer

Implemented in OpenRaveThread.

virtual OpenRaveEnvironment* fawkes::OpenRaveConnector::get_environment ( ) const

pure virtual

Get pointer to OpenRaveEnvironment object.

Returns:: pointer

Implemented in OpenRaveThread.

virtual bool fawkes::OpenRaveConnector::move_object	(	const std::string &	name,
		float	trans_x,
		float	trans_y,
		float	trans_z,
		OpenRaveRobot *	robot = `NULL`
	)

pure virtual

Move object in the environment.

Distances are given in meters

Parameters:

name	name of the object
trans_x	transition along x-axis
trans_y	transition along y-axis
trans_z	transition along z-axis
robot	if given, move relatively to robot (in most simple cases robot is at position (0,0,0) anyway, so this has no effect)

Returns:: true if successful

Implemented in OpenRaveThread.

virtual bool fawkes::OpenRaveConnector::release_all_objects ( OpenRaveRobot * robot )

pure virtual

Release all grabbed kinbodys from the robot.

Parameters:

robot pointer to OpenRaveRobot that objects are released from

Returns:: true if successful

Implemented in OpenRaveThread.

virtual bool fawkes::OpenRaveConnector::release_object	(	const std::string &	name,
		OpenRaveRobot *	robot = `NULL`
	)

pure virtual

Release a kinbody from the robot.

Parameters:

name	name of the object
robot	pointer to OpenRaveRobot that object is released from

Returns:: true if successful

Implemented in OpenRaveThread.

virtual bool fawkes::OpenRaveConnector::rename_object	(	const std::string &	name,
		const std::string &	new_name
	)

pure virtual

Rename object.

Parameters:

name	current name of the object
new_name	new name of the object

Returns:: true if successful

Implemented in OpenRaveThread.

virtual bool fawkes::OpenRaveConnector::rotate_object	(	const std::string &	name,
		float	quat_x,
		float	quat_y,
		float	quat_z,
		float	quat_w
	)

pure virtual

Rotate object by a quaternion.

Parameters:

name	name of the object
quat_x	x value of quaternion
quat_y	y value of quaternion
quat_z	z value of quaternion
quat_w	w value of quaternion

Returns:: true if successful

Implemented in OpenRaveThread.

virtual bool fawkes::OpenRaveConnector::rotate_object	(	const std::string &	name,
		float	rot_x,
		float	rot_y,
		float	rot_z
	)

pure virtual

Rotate object along its axis.

Rotation angles should be given in radians.

Parameters:

name	name of the object
rot_x	1st rotation, along x-axis
rot_y	2nd rotation, along y-axis
rot_z	3rd rotation, along z-axis

Returns:: true if successful

Implemented in OpenRaveThread.

virtual void fawkes::OpenRaveConnector::run_graspplanning	(	const std::string &	target_name,
		OpenRaveRobot *	robot = `NULL`
	)

pure virtual

Run graspplanning script for a given target.

Parameters:

target_name	name of targeted object (KinBody)
robot	robot to use planner on. If none is given, the currently used robot is taken

Implemented in OpenRaveThread.

virtual void fawkes::OpenRaveConnector::run_planner	(	OpenRaveRobot *	robot = `NULL`,
		float	sampling = `0.01f`
	)

pure virtual

Run planner on previously set target.

Parameters:

robot	robot to use planner on. If none is given, the currently used robot is taken
sampling	sampling time between each trajectory point (in seconds)

Implemented in OpenRaveThread.

virtual void fawkes::OpenRaveConnector::set_active_robot ( OpenRaveRobot * robot )

pure virtual

Set robot to be used.

Parameters:

robot OpenRaveRobot that should be used implicitly in other methods

Implemented in OpenRaveThread.

virtual void fawkes::OpenRaveConnector::set_manipulator	(	OpenRaveRobot *	robot,
		OpenRaveManipulator *	manip,
		float	trans_x = `0.f`,
		float	trans_y = `0.f`,
		float	trans_z = `0.f`,
		bool	calibrate = `0`
	)

pure virtual

Set OpenRaveManipulator object for robot, and calculate coordinate-system offsets or set them directly.

Make sure to update manip angles before calibrating!

Parameters:

robot	pointer to OpenRaveRobot object, explicitly set
manip	pointer to OpenRAVManipulator that is set for robot
trans_x	transition offset on x-axis
trans_y	transition offset on y-axis
trans_z	transition offset on z-axis
calibrate	decides whether to calculate offset (true )or set them directly (false; default)

Implemented in OpenRaveThread.

virtual void fawkes::OpenRaveConnector::set_manipulator	(	OpenRaveManipulator *	manip,
		float	trans_x = `0.f`,
		float	trans_y = `0.f`,
		float	trans_z = `0.f`,
		bool	calibrate = `0`
	)

pure virtual

Set OpenRaveManipulator object for robot, and calculate coordinate-system offsets or set them directly.

Make sure to update manip angles before calibrating! Uses default OpenRaveRobot object.

Parameters:

manip	pointer to OpenRAVManipulator that is set for robot
trans_x	transition offset on x-axis
trans_y	transition offset on y-axis
trans_z	transition offset on z-axis
calibrate	decides whether to calculate offset (true )or set them directly (false; default)

Implemented in OpenRaveThread.

virtual bool fawkes::OpenRaveConnector::set_target_object	(	const std::string &	name,
		OpenRaveRobot *	robot,
		float	rot_x = `0`
	)

pure virtual

Set an object as the target.

Currently the object should be cylindric, and stand upright. It may also be rotated on its x-axis, but that rotation needs to be given in an argument to calculate correct position for endeffecto. This is only temporary until proper graps planning for 5DOF in OpenRave is provided.

Parameters:

name	name of the object
robot	pointer to OpenRaveRobot that the target is set for
rot_x	rotation of object on x-axis (radians)

Returns:: true if IK solvable

Implemented in OpenRaveThread.

virtual void fawkes::OpenRaveConnector::start_viewer ( ) const

pure virtual

Start OpenRave viewer.

Implemented in OpenRaveThread.

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

src/plugins/openrave/aspect/openrave_connector.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation