grasp_candidate.cpp

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/* Author: Dave Coleman <dave@picknik.ai>
   Desc:   Filters grasps based on kinematic feasibility and collision
*/

#include <moveit_grasps/grasp_candidate.h>

namespace moveit_grasps
{
GraspCandidate::GraspCandidate(moveit_msgs::Grasp grasp, const GraspDataPtr grasp_data, Eigen::Affine3d cuboid_pose)
  : grasp_(grasp)
  , grasp_data_(grasp_data)
  , cuboid_pose_(cuboid_pose)
  , grasp_filtered_by_ik_(false)
  , grasp_filtered_by_cutting_plane_(false)
  , grasp_filtered_by_orientation_(false)
  , pregrasp_filtered_by_ik_(false)
{
}

bool GraspCandidate::getPreGraspState(moveit::core::RobotStatePtr& robot_state)
{
  // Error check
  if (pregrasp_ik_solution_.empty())
  {
    ROS_ERROR_STREAM_NAMED("grasp_candidate", "No pregrasp ik solution available to set");
    return false;
  }

  // Apply IK solved arm joints to state
  robot_state->setJointGroupPositions(grasp_data_->arm_jmg_, pregrasp_ik_solution_);

  // Set end effector to correct configuration
  grasp_data_->setRobotState(robot_state, grasp_.pre_grasp_posture);

  return true;
}

bool GraspCandidate::getGraspStateOpen(moveit::core::RobotStatePtr robot_state)
{
  // Error check
  if (grasp_ik_solution_.empty())
  {
    ROS_ERROR_STREAM_NAMED("grasp_candidate", "No grasp ik solution available to set");
    return false;
  }

  // Apply IK solved arm joints to state
  robot_state->setJointGroupPositions(grasp_data_->arm_jmg_, grasp_ik_solution_);

  // Set end effector to correct configuration
  return getGraspStateOpenEEOnly(robot_state);
}

bool GraspCandidate::getGraspStateOpenEEOnly(moveit::core::RobotStatePtr robot_state)
{
  return grasp_data_->setRobotState(robot_state, grasp_.pre_grasp_posture);
}

bool GraspCandidate::getGraspStateClosed(moveit::core::RobotStatePtr robot_state)
{
  // Apply IK solved arm joints to state
  robot_state->setJointGroupPositions(grasp_data_->arm_jmg_, grasp_ik_solution_);

  // Set end effector to correct configuration
  return getGraspStateClosedEEOnly(robot_state);
}

bool GraspCandidate::getGraspStateClosedEEOnly(moveit::core::RobotStatePtr robot_state)
{
  return grasp_data_->setRobotState(robot_state, grasp_.grasp_posture);
}

bool GraspCandidate::isValid()
{
  if (grasp_filtered_by_ik_ || grasp_filtered_by_cutting_plane_ || grasp_filtered_by_orientation_ ||
      pregrasp_filtered_by_ik_)
    return false;
  else
    return true;
}

}  // namespace