Package rst.robot

This package contains data type definitions that are specific robot sensing, control etc. and do thus not fit into more general categories such as dynamics or navigation.

Messages

• RobotCollision
• PickAndPlaceAction

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Message RobotCollision

class rst.robot.RobotCollision

Holds information about a collision between a robot and an object.

Code author: Daniel Seidel <dseidel@techfak.uni-bielefeld.DE>

kind

Type:rst.robot.RobotCollision.CollisionKind

Kind of collision.

Determines interpretation of collision_detail.

collision_detail

Type:rst.kinematics.ObjectCollision

Object and geometry information for the collision.

For self collisions (SELF), <Could not resolve reference to .collision_detail.object_1> and <Could not resolve reference to .collision_detail.object_2> designate the colliding parts of the robot.

For collisions with environment objects (EXTERNAL), <Could not resolve reference to .collision_detail.object_1> and <Could not resolve reference to .collision_detail.object_2> designate the colliding robot part and the environment object respectively.

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message RobotCollision {

    /**
     * Possible kinds of collisions.
     */
    enum CollisionKind {

        /**
         * Two parts of the robot collide with each other.
         */
        SELF = 1;

        /**
         * The robot collides with an environment object which is not
         * part of the robot.
         */
        EXTERNAL = 2;

        /**
         * The kind of the collision is not known.
         */
        UNKNOWN  = 3;

    }

    /**
     * Kind of collision.
     *
     * Determines interpretation of @ref .collision_detail.
     */
    required CollisionKind kind = 1;

    /**
     * Object and geometry information for the collision.
     *
     * For self collisions (@ref .CollisionKind.SELF), @ref
     * .collision_detail.object_1 and @ref .collision_detail.object_2
     * designate the colliding parts of the robot.
     *
     * For collisions with environment objects (@ref
     * .CollisionKind.EXTERNAL), @ref .collision_detail.object_1 and
     * @ref .collision_detail.object_2 designate the colliding robot
     * part and the environment object respectively.
     */
    required kinematics.ObjectCollision collision_detail = 2;

}

Message CollisionKind

class rst.robot.RobotCollision.CollisionKind

Possible kinds of collisions.

SELF

= 1

Two parts of the robot collide with each other.

EXTERNAL

= 2

The robot collides with an environment object which is not part of the robot.

UNKNOWN

= 3

The kind of the collision is not known.

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    enum CollisionKind {

        /**
         * Two parts of the robot collide with each other.
         */
        SELF = 1;

        /**
         * The robot collides with an environment object which is not
         * part of the robot.
         */
        EXTERNAL = 2;

        /**
         * The kind of the collision is not known.
         */
        UNKNOWN  = 3;

    }

Message PickAndPlaceAction

class rst.robot.PickAndPlaceAction

PickAndPlaceAction data consisting of two Poses, a pick-Pose and a place-Pose, for picking and placing objects. Both poses are expressed in world coordinates.

Code author: Christian Emmerich <cemmeric@techfak.uni-bielefeld.de>

pickPose

Type:rst.geometry.Pose

A rst.geometry.Pose representing a grip-Pose to grip an object.

placePose

Type:rst.geometry.Pose

A rst.geometry.Pose where to place the object.

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message PickAndPlaceAction {

    /**
     * A rst.geometry.Pose representing a grip-Pose to grip an object.
     */
    required geometry.Pose pickPose = 1;

    /**
     * A rst.geometry.Pose where to place the object.
     */
    required geometry.Pose placePose = 2;

}