GraspTask Class Reference

A container for describing one or multiple grasping tasks. It is based on the rwlibs::tasks library. More...

#include <GraspTask.hpp>

Public Types
typedef rw::core::Ptr< GraspTask >	Ptr
	Smart pointer to this type of class.
typedef GraspResult::TestStatus	TestStatus

Public Member Functions
	GraspTask ()
	Default constructor.
	GraspTask (rwlibs::task::CartesianTask::Ptr task)
	Constructs task from CartesianTask.
rwlibs::task::CartesianTask::Ptr	toCartesianTask ()
	Converts GraspTask to CartesianTask.
std::string	getGripperID ()
std::string	getTCPID ()
std::string	getGraspControllerID ()
void	setGripperID (const std::string &id)
void	setTCPID (const std::string &id)
void	setGraspControllerID (const std::string &id)
void	addSubTask (class GraspSubTask &stask)
std::vector< class GraspSubTask > &	getSubTasks ()
void	filterTasks (std::vector< GraspResult::TestStatus > &includeMask)
	Filters targets of the task to include only those whose status is included in the filtering mask. New target list is created for the task, including only targets whose status matches one of the provided in the includeMask.
std::vector< std::pair< class GraspSubTask *, class GraspTarget * > >	getAllTargets ()
	Iterates the grasptask and assemble all targets and the GraspSubTask that they are associated to. More...
GraspTask::Ptr	clone ()
	makes the copy of a task More...

Static Public Member Functions
static std::string	toString (GraspResult::TestStatus status)
	Returns textual representation of given TestStatus. More...
static void	saveUIBK (GraspTask::Ptr task, const std::string &name)
	save as UIBK format More...
static void	saveRWTask (GraspTask::Ptr task, const std::string &name)
static void	saveRWTask (GraspTask::Ptr task, std::ostream &stream)
	Save a task in RobWork XML format. More...
static void	saveText (GraspTask::Ptr task, const std::string &name)
	save grasp task in a comma seperated format More...
static GraspTask::Ptr	load (const std::string &name)
	load a GraspTask from file More...
static GraspTask::Ptr	load (std::istringstream &inputStream)
	load a GraspTask from istream More...

Detailed Description

A container for describing one or multiple grasping tasks. It is based on the rwlibs::tasks library.

Definition of GraspTask xml format

GraspTask

• p:string:"GripperName" - name of the gripper device
• p:string:"ControllerName" - defaults to GraspController
• p:string:"TCP" - name of the TCP frame

Member Typedef Documentation

TestStatus

typedef GraspResult::TestStatus TestStatus

Defines outcome of a single grasp result.

Deprecated:

Use GraspResult::TestStatus instead.

Member Function Documentation

clone()

GraspTask::Ptr clone ( )

inline

makes the copy of a task

Copies over only the gripper ID, tcp ID, and the grasp controller ID. Targets are NOT copied.

getAllTargets()

std::vector<std::pair<class GraspSubTask*, class GraspTarget*> > getAllTargets

(

)

Iterates the grasptask and assemble all targets and the GraspSubTask that they are associated to.

Returns

vector of subtask and target pairs.

load() [1/2]

static GraspTask::Ptr load ( const std::string &  name )

static

load a GraspTask from file

Parameters

name

Returns

load() [2/2]

static GraspTask::Ptr load ( std::istringstream &  inputStream )

static

load a GraspTask from istream

Parameters

inputStream

Returns

saveRWTask() [1/2]

static void saveRWTask ( GraspTask::Ptr  task, const std::string &  name  )

static

Parameters

task
name

saveRWTask() [2/2]

static void saveRWTask ( GraspTask::Ptr  task, std::ostream &  stream  )

static

Save a task in RobWork XML format.

Parameters

task	[in] the task to write.
stream	[out] the stream to write to.

saveText()

static void saveText ( GraspTask::Ptr  task, const std::string &  name  )

static

save grasp task in a comma seperated format

Parameters

task
name

saveUIBK()

static void saveUIBK ( GraspTask::Ptr  task, const std::string &  name  )

static

save as UIBK format

Parameters

task
name

toString()

static std::string toString ( GraspResult::TestStatus  status )

inlinestatic

Returns textual representation of given TestStatus.

Deprecated:

Use GraspResult::toString() method instead.

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

• GraspTask.hpp