MoveToTableNode Class Reference

#include <move_to_table_node.h>

List of all members.

Public Member Functions
void	addMarkerForFinalPose (geometry_msgs::Pose finalPose)
	adds a marker for showing the final target
bool	doIntersect (float line)
	finds whether there is an intersection between the line through the robot pose and table centroid and the boundies of the table
Eigen::Quaternionf	faceTable (geometry_msgs::Pose finalPose)
	sets the orientation of the final target
geometry_msgs::Pose	findIntersectionPoint ()
	finds the intersection between the line through the robot pose and table centroid and the boundies of the table
geometry_msgs::Pose	findSafeTargetPoint ()
	finds a safe position in the vicinity of the table as the target
	MoveToTableNode ()
bool	moveToTableService (cob_3d_mapping_msgs::MoveToTable::Request &req, cob_3d_mapping_msgs::MoveToTable::Response &res)
	service callback for MoveToTable service
geometry_msgs::Pose	transformToTableCoordinateSystem (cob_3d_mapping_msgs::Table &table, geometry_msgs::Pose &Pose)
	transforms a point to table coordinate system
	~MoveToTableNode ()
Public Attributes
ros::NodeHandle	n_
geometry_msgs::Pose	robotPose_
geometry_msgs::Pose	robotPoseInTableCoordinateSys_
float	safe_dist_
cob_3d_mapping_msgs::Table	table_
Eigen::Matrix4f	transformToTableCoordinateSys_
Protected Attributes
ros::ServiceServer	move_to_table_server_
ros::Publisher	navigation_goal_pub_
boost::shared_ptr < interactive_markers::InteractiveMarkerServer >	table_im_server_

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Detailed Description

Definition at line 81 of file move_to_table_node.h.

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Constructor & Destructor Documentation

MoveToTableNode::MoveToTableNode

(

)

Definition at line 63 of file move_to_table_node.cpp.

MoveToTableNode::~MoveToTableNode

(

)

[inline]

void

Definition at line 87 of file move_to_table_node.h.

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Member Function Documentation

void MoveToTableNode::addMarkerForFinalPose

(

geometry_msgs::Pose

finalPose

)

adds a marker for showing the final target

Returns:

nothing

Definition at line 271 of file move_to_table_node.cpp.

bool MoveToTableNode::doIntersect

(

float

line

)

finds whether there is an intersection between the line through the robot pose and table centroid and the boundies of the table

Parameters:

[in]

line

the line which needs to be checked for the intersection

Returns:

true if there exists an Intersection

Definition at line 132 of file move_to_table_node.cpp.

Eigen::Quaternionf MoveToTableNode::faceTable

(

geometry_msgs::Pose

finalPose

)

sets the orientation of the final target

Parameters:

[in]	finalPose	target position
[out]	quaternion	representing the orientation of final pose

Returns:

the quaternion orientation

Definition at line 70 of file move_to_table_node.cpp.

geometry_msgs::Pose MoveToTableNode::findIntersectionPoint

(

)

finds the intersection between the line through the robot pose and table centroid and the boundies of the table

Parameters:

[out]

intersection

position

Returns:

the intersection point

Definition at line 197 of file move_to_table_node.cpp.

geometry_msgs::Pose MoveToTableNode::findSafeTargetPoint

(

)

finds a safe position in the vicinity of the table as the target

Parameters:

[out]

safe

target position

Returns:

the position of the target point

Definition at line 236 of file move_to_table_node.cpp.

bool MoveToTableNode::moveToTableService	(	cob_3d_mapping_msgs::MoveToTable::Request &	req,
		cob_3d_mapping_msgs::MoveToTable::Response &	res
	)

service callback for MoveToTable service

Parameters:

[in]	req	request to move to table
[in]	res	empty response

Returns:

nothing

Definition at line 325 of file move_to_table_node.cpp.

geometry_msgs::Pose MoveToTableNode::transformToTableCoordinateSystem	(	cob_3d_mapping_msgs::Table &	table,
		geometry_msgs::Pose &	Pose
	)

transforms a point to table coordinate system

Parameters:

[in]	table	table msg
[in]	pose	the pose which needs to be transformed ro table coordinate system
[out]	transformed	point

Returns:

the transformed point

Definition at line 94 of file move_to_table_node.cpp.

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Member Data Documentation

ros::ServiceServer MoveToTableNode::move_to_table_server_ [protected]

Definition at line 153 of file move_to_table_node.h.

ros::NodeHandle MoveToTableNode::n_

Definition at line 144 of file move_to_table_node.h.

ros::Publisher MoveToTableNode::navigation_goal_pub_ [protected]

Definition at line 155 of file move_to_table_node.h.

geometry_msgs::Pose MoveToTableNode::robotPose_

Definition at line 147 of file move_to_table_node.h.

geometry_msgs::Pose MoveToTableNode::robotPoseInTableCoordinateSys_

Definition at line 146 of file move_to_table_node.h.

float MoveToTableNode::safe_dist_

Definition at line 150 of file move_to_table_node.h.

cob_3d_mapping_msgs::Table MoveToTableNode::table_

Definition at line 145 of file move_to_table_node.h.

boost::shared_ptr<interactive_markers::InteractiveMarkerServer> MoveToTableNode::table_im_server_ [protected]

Definition at line 154 of file move_to_table_node.h.

Eigen::Matrix4f MoveToTableNode::transformToTableCoordinateSys_

Definition at line 149 of file move_to_table_node.h.

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

• move_to_table_node.h
• move_to_table_node.cpp