Abstract class which defines the interfaces with FOG. More...

#include <fog/interface.h>

Collaboration diagram for fog::Interface:

Public Member Functions
	Interface ()

	Interface (const std::shared_ptr< arl::robot::Robot > &the_arm, const std::shared_ptr< arl::robot::Robot > &the_hand, const std::shared_ptr< arl::robot::Sensor > &sensor, const std::shared_ptr< arl::viz::RosStatePublisher > &the_viz)

virtual void	getParameters ()=0
	Reads the parameters for FOG. More...

virtual PointCloud	getObjectPointCloud ()=0
	Returns the point cloud of the object. More...

virtual std::vector< Point3 >	getSurfaceEdges ()=0
	Returns the eges of the support surface. More...

virtual void	reachIGS (const fog::InitialGraspState &igs)=0
	Communicates with the robot in order to reach and IGS. More...

virtual bool	planIGS (fog::InitialGraspState &igs)=0
	Interfacing with an external planner for planning an IGS. More...

virtual void	robotGoHome ()=0
	Sends the robot to the home configuration. More...

virtual Pose	getTipPalmTransform (const Eigen::VectorXd &joint_states)=0
	Reads the tranformation for the tip of the hand to the palm of the hand. More...

virtual void	setHandConfiguration (const Eigen::VectorXd &joint_states, double duration=5.0, bool blocking=true)=0
	Communicates with the hand for reaching a hand configuration/preshape. More...

virtual fog::Pose	getTransformationFromPalm (fog::FrameLabel frame, const Eigen::VectorXd &joint_states)=0
	Provides the transformation of the given frame w.r.t. the palm (or the base of the hand). More...

Public Attributes
std::shared_ptr < arl::robot::Robot >	arm

std::shared_ptr < arl::robot::Robot >	hand

std::shared_ptr < arl::robot::Sensor >	ft_sensor

std::shared_ptr < arl::viz::RosStatePublisher >	viz

Params	params
	The FOG params in order to be available to the components of the library. More...

Detailed Description

Abstract class which defines the interfaces with FOG.

You can inherit and implement this class in order to define your own interfaces with the rest of the world.

Constructor & Destructor Documentation

fog::Interface::Interface ( )

inline

fog::Interface::Interface	(	const std::shared_ptr< arl::robot::Robot > &	the_arm,
		const std::shared_ptr< arl::robot::Robot > &	the_hand,
		const std::shared_ptr< arl::robot::Sensor > &	sensor,
		const std::shared_ptr< arl::viz::RosStatePublisher > &	the_viz
	)

inline

Member Function Documentation

virtual PointCloud fog::Interface::getObjectPointCloud ( )

pure virtual

Returns the point cloud of the object.

There are multiple ways to implement this. For example you can read the point cloud from a file or from a ROS topic.

Returns: The object's point cloud

virtual void fog::Interface::getParameters ( )

pure virtual

Reads the parameters for FOG.

Writes the parameters to the fog::Interface::params

See Also: fog::Params

virtual std::vector<Point3> fog::Interface::getSurfaceEdges ( )

pure virtual

Returns the eges of the support surface.

Returns: The edges of the support surface.

virtual Pose fog::Interface::getTipPalmTransform ( const Eigen::VectorXd & joint_states )

pure virtual

Reads the tranformation for the tip of the hand to the palm of the hand.

Parameters

joint_states The desired joint position for finding the forward kinematics of the fingertip.

virtual fog::Pose fog::Interface::getTransformationFromPalm	(	fog::FrameLabel	frame,
		const Eigen::VectorXd &	joint_states
	)

pure virtual

Provides the transformation of the given frame w.r.t. the palm (or the base of the hand).

Parameters

frame	The frame to find its transformation from the palm frame.
joint_states	The joint positions of the fingers in order to solve the F/K.

Returns: The trasformation

virtual bool fog::Interface::planIGS ( fog::InitialGraspState & igs )

pure virtual

Interfacing with an external planner for planning an IGS.

You can use any planner you want, for example MoveIt!.

Parameters

igs	The IGS to be planned. If the planner found a plan for the given IGS this function should write the solution on the fog::InitialGraspState::joint_trajectory_solution

Returns: True if a solution was found, false eitherwise.

virtual void fog::Interface::reachIGS ( const fog::InitialGraspState & igs )

pure virtual

Communicates with the robot in order to reach and IGS.

You have to send to the robot the joint trajectory solution of the IGS.

Parameters

The	IGS to be reached.

virtual void fog::Interface::robotGoHome ( )

pure virtual

Sends the robot to the home configuration.

virtual void fog::Interface::setHandConfiguration	(	const Eigen::VectorXd &	joint_states,
		double	duration = `5.0`,
		bool	blocking = `true`
	)

pure virtual

Communicates with the hand for reaching a hand configuration/preshape.

It reads the current configuration of the hand and sends a joint trajectory to the finger joints.

Parameters

joint_states	The desired final joint states of the preshape.
duration	The duration of the joint trajectory
blocking	True if the program should wait for the fingertips to reach the final joint configuration. False otherwise.

Member Data Documentation

std::shared_ptr<arl::robot::Robot> fog::Interface::arm

std::shared_ptr<arl::robot::Sensor> fog::Interface::ft_sensor

std::shared_ptr<arl::robot::Robot> fog::Interface::hand

Params fog::Interface::params

The FOG params in order to be available to the components of the library.

std::shared_ptr<arl::viz::RosStatePublisher> fog::Interface::viz

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation