Manipulation

Classes
class	ManipulationUtils
class	ArmManipulationData
class	ManipulationData
Typedefs
typedef enum MANIPULATION_TASK_TYPE_STR	MANIPULATION_TASK_TYPE_STR
typedef enum MANIPULATION_TASK_MESSAGE	MANIPULATION_TASK_MESSAGE
typedef enum MANIPULATION_ARM_STATE	MANIPULATION_ARM_STATE
Enumerations
enum	MANIPULATION_TASK_TYPE_STR {   ARM_FREE = 1, ARM_PICK_GOTO = 2, ARM_TAKE_TO_FREE = 3, ARM_TAKE_TO_PLACE = 4,   ARM_PLACE_FROM_FREE = 5, ARM_EXTRACT = 6, ARM_ESCAPE_OBJECT = 7 }
enum	MANIPULATION_TASK_MESSAGE {   MANIPULATION_TASK_OK, MANIPULATION_TASK_NOT_INITIALIZED, MANIPULATION_TASK_NO_TRAJ_FOUND, MANIPULATION_TASK_INVALID_QSTART,   MANIPULATION_TASK_INVALID_QGOAL, MANIPULATION_TASK_INVALID_TRAJ_ID, MANIPULATION_TASK_INVALID_TASK, MANIPULATION_TASK_UNKNOWN_OBJECT,   MANIPULATION_TASK_NO_GRASP, MANIPULATION_TASK_NO_PLACE, MANIPULATION_TASK_ERROR_UNKNOWN, MANIPULATION_TASK_EQUAL_QSTART_QGOAL }
enum	MANIPULATION_ARM_STATE { handFree, holdingObjectInStablePose, holdingObjectInFlyingPose }

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Detailed Description

The manipulation classes are dedicated to the planning of manipulation tasks. They encapsulates variables and functions that allow to easily (!) plan the motion required for basic manipulation tasks (pick-and-place, object transfer from one hand to the other).

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Typedef Documentation

typedef enum MANIPULATION_ARM_STATE MANIPULATION_ARM_STATE

Defines the arm mainpulation-state

typedef enum MANIPULATION_TASK_MESSAGE MANIPULATION_TASK_MESSAGE

The different messages that can be returned by the armPlanTask function:

typedef enum MANIPULATION_TASK_TYPE_STR MANIPULATION_TASK_TYPE_STR

The different manipulation tasks that can be planned with Jido:

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Enumeration Type Documentation

enum MANIPULATION_ARM_STATE

Defines the arm mainpulation-state

enum MANIPULATION_TASK_MESSAGE

The different messages that can be returned by the armPlanTask function:

Enumerator:

MANIPULATION_TASK_OK	everything was fine
MANIPULATION_TASK_NOT_INITIALIZED	a variable was not properly initialized
MANIPULATION_TASK_NO_TRAJ_FOUND	failed to compute a trajectory for the desired task
MANIPULATION_TASK_INVALID_TASK	the desired task is undefined
MANIPULATION_TASK_UNKNOWN_OBJECT	there is no object with the specified name
MANIPULATION_TASK_NO_GRASP	no grasp or arm grasping configuration can be found for the current context (mobile base and obstacles configurations)
MANIPULATION_TASK_NO_PLACE	no placement or arm placement configuration can be found for the current context (mobile base and obstacles configurations, current grasp)
MANIPULATION_TASK_ERROR_UNKNOWN	something undefined was wrong
MANIPULATION_TASK_EQUAL_QSTART_QGOAL	The start and goal configurations are identical !

enum MANIPULATION_TASK_TYPE_STR

The different manipulation tasks that can be planned with Jido:

Enumerator:

ARM_FREE	move the arm from a free configuration (in the air) to another free configuration
ARM_PICK_GOTO	move the arm from a free configuration to a grasping configuration of the object placed on a support
ARM_TAKE_TO_FREE	move the arm from a grasping configuration (of the object placed on a support) to a free configuration
ARM_TAKE_TO_PLACE	move the arm from a grasping configuration to a configuration with the same grasp but a different object placement
ARM_PLACE_FROM_FREE	move the arm from a free configuration to a placement configuration
ARM_EXTRACT	move the arm over Z axis to escape from collision
ARM_ESCAPE_OBJECT	move the arm to escape from a placed object