SupportingPlaneExtractionNode Class Reference

List of all members.

Public Member Functions
void	callbackShapeArray (const cob_3d_mapping_msgs::ShapeArray::ConstPtr sa_ptr)
	callback for ShapeArray messages
void	dynReconfCallback (cob_3d_mapping_semantics::supporting_plane_extraction_nodeConfig &config, uint32_t level)
	callback for dynamic reconfigure
bool	getMapService (cob_3d_mapping_msgs::ShapeArray &sa)
	service offering geometry map of the scene
bool	getTablesService (cob_3d_mapping_msgs::GetObjectsOfClassRequest &req, cob_3d_mapping_msgs::GetObjectsOfClassResponse &res)
	service offering table object candidates
void	processShapeArray (const cob_3d_mapping_msgs::ShapeArray &sa, cob_3d_mapping_msgs::ShapeArray &sup_planes)
	processes a shape array in order to find tables
void	publishShapeMarker (const cob_3d_mapping_msgs::ShapeArray &sa)
	publishe markers to visualize shape in rviz
	SupportingPlaneExtractionNode ()
	~SupportingPlaneExtractionNode ()
Public Attributes
ros::NodeHandle	n_
Protected Attributes
dynamic_reconfigure::Server < cob_3d_mapping_semantics::supporting_plane_extraction_nodeConfig >	config_server_
	Dynamic Reconfigure server.
ros::Publisher	pc2_pub_
ros::Publisher	s_marker_pub_
ros::Publisher	sa_pub_
ros::Subscriber	sa_sub_
SupportingPlaneExtraction	spe_

Detailed Description

Definition at line 91 of file supporting_plane_extraction_node.cpp.

Constructor & Destructor Documentation

SupportingPlaneExtractionNode::SupportingPlaneExtractionNode ( ) [inline]

Definition at line 96 of file supporting_plane_extraction_node.cpp.

SupportingPlaneExtractionNode::~SupportingPlaneExtractionNode ( ) [inline]

void

Definition at line 109 of file supporting_plane_extraction_node.cpp.

Member Function Documentation

void SupportingPlaneExtractionNode::callbackShapeArray ( const cob_3d_mapping_msgs::ShapeArray::ConstPtr sa_ptr ) [inline]

callback for ShapeArray messages

Parameters:

sa_ptr

pointer to the message

Returns:: nothing

Definition at line 143 of file supporting_plane_extraction_node.cpp.

void SupportingPlaneExtractionNode::dynReconfCallback	(	cob_3d_mapping_semantics::supporting_plane_extraction_nodeConfig &	config,
		uint32_t	level
	)			`[inline]`

callback for dynamic reconfigure

everytime the dynamic reconfiguration changes this function will be called

Parameters:

	config	data of configuration
	level	bit descriptor which notifies which parameter changed

Returns:: nothing

Definition at line 125 of file supporting_plane_extraction_node.cpp.

bool SupportingPlaneExtractionNode::getMapService ( cob_3d_mapping_msgs::ShapeArray & sa ) [inline]

service offering geometry map of the scene

Returns:: true if service successful

Definition at line 187 of file supporting_plane_extraction_node.cpp.

bool SupportingPlaneExtractionNode::getTablesService	(	cob_3d_mapping_msgs::GetObjectsOfClassRequest &	req,
		cob_3d_mapping_msgs::GetObjectsOfClassResponse &	res
	)			`[inline]`

service offering table object candidates

Parameters:

	req	request for objects of a class (table objects in this case)
	res	response of the service which is possible table object candidates

Returns:: true if service successful

Definition at line 163 of file supporting_plane_extraction_node.cpp.

void SupportingPlaneExtractionNode::processShapeArray	(	const cob_3d_mapping_msgs::ShapeArray &	sa,
		cob_3d_mapping_msgs::ShapeArray &	sup_planes
	)			`[inline]`

processes a shape array in order to find tables

Parameters:

	sa	input shape array
	tables	output shape array containing tables

Returns:: nothing

Definition at line 272 of file supporting_plane_extraction_node.cpp.

void SupportingPlaneExtractionNode::publishShapeMarker ( const cob_3d_mapping_msgs::ShapeArray & sa ) [inline]

publishe markers to visualize shape in rviz

Parameters:

s

shape to be seen visually

Returns:: nothing

Definition at line 219 of file supporting_plane_extraction_node.cpp.

Member Data Documentation

dynamic_reconfigure::Server<cob_3d_mapping_semantics::supporting_plane_extraction_nodeConfig> SupportingPlaneExtractionNode::config_server_ [protected]

Dynamic Reconfigure server.

Definition at line 313 of file supporting_plane_extraction_node.cpp.

ros::NodeHandle SupportingPlaneExtractionNode::n_

Definition at line 300 of file supporting_plane_extraction_node.cpp.

ros::Publisher SupportingPlaneExtractionNode::pc2_pub_ [protected]

Definition at line 305 of file supporting_plane_extraction_node.cpp.

ros::Publisher SupportingPlaneExtractionNode::s_marker_pub_ [protected]

Definition at line 306 of file supporting_plane_extraction_node.cpp.

ros::Publisher SupportingPlaneExtractionNode::sa_pub_ [protected]

Definition at line 304 of file supporting_plane_extraction_node.cpp.

ros::Subscriber SupportingPlaneExtractionNode::sa_sub_ [protected]

Definition at line 303 of file supporting_plane_extraction_node.cpp.