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find_base_pose.cpp File Reference

#include <ros/ros.h>
#include <eigen_conversions/eigen_msg.h>
#include <tf/tf.h>
#include <actionlib/server/simple_action_server.h>
#include <find_base_pose/FindBasePoseAction.h>
#include <tf/transform_listener.h>
#include <kinematics_msgs/GetPositionIK.h>
#include <kinematics_msgs/GetPositionFK.h>
#include <pr2_arm_kinematics/pr2_arm_kinematics.h>
#include <pr2_arm_kinematics/pr2_arm_ik.h>
#include <pr2_arm_kinematics/pr2_arm_kinematics_utils.h>
#include <pr2_arm_kinematics/pr2_arm_ik_solver.h>
#include <pr2_arm_kinematics/pr2_arm_kinematics_plugin.h>
#include <kinematics_base/kinematics_base.h>
#include <urdf/model.h>
#include <algorithm>
#include <laser_geometry/laser_geometry.h>
#include <visualization_msgs/Marker.h>
#include <nav_msgs/OccupancyGrid.h>
Include dependency graph for find_base_pose.cpp:

Go to the source code of this file.

Classes

class  FindBasePoseAction
 end: exlude unknown and occupied space from map More...

Functions

int main (int argc, char **argv)
void mapCallback (const nav_msgs::OccupancyGrid &msg)
bool mapFreeCoarse (tf::Stamped< tf::Pose > absPose)
bool mapFreeCoarseCircumscribed (tf::Stamped< tf::Pose > absPose)
bool mapFreeFine (tf::Stamped< tf::Pose > absPose)
void mapToWorld (unsigned int mx, unsigned int my, double &wx, double &wy)
bool worldToMap (double wx, double wy, unsigned int &mx, unsigned int &my)
void worldToMapNoBounds (double wx, double wy, int &mx, int &my)

Variables

nav_msgs::OccupancyGrid coarsemap
pr2_arm_kinematics::PR2ArmIKik_r
pr2_arm_kinematics::PR2ArmKinematicskinemal
pr2_arm_kinematics::PR2ArmKinematicskinemar
nav_msgs::OccupancyGrid map
nav_msgs::OccupancyGrid map_circumscribed
nav_msgs::OccupancyGrid map_inscribed
bool map_processed = false
ros::Publisher occ_pub
float origin_x_ = 0
float origin_y_ = 0
float resolution_ = 0
int size_x_ = 0
int size_y_ = 0
pr2_arm_kinematics::PR2ArmIKSolversolver
bool we_have_a_map = false
 exlude unknown and occupied space from map

Function Documentation

int main ( int  argc,
char **  argv 
)

Definition at line 1344 of file find_base_pose.cpp.

void mapCallback ( const nav_msgs::OccupancyGrid msg  ) 

Definition at line 102 of file find_base_pose.cpp.

bool mapFreeCoarse ( tf::Stamped< tf::Pose absPose  ) 

Definition at line 192 of file find_base_pose.cpp.

bool mapFreeCoarseCircumscribed ( tf::Stamped< tf::Pose absPose  ) 

Definition at line 208 of file find_base_pose.cpp.

bool mapFreeFine ( tf::Stamped< tf::Pose absPose  ) 

Definition at line 224 of file find_base_pose.cpp.

void mapToWorld ( unsigned int  mx,
unsigned int  my,
double &  wx,
double &  wy 
)

Definition at line 74 of file find_base_pose.cpp.

bool worldToMap ( double  wx,
double  wy,
unsigned int &  mx,
unsigned int &  my 
)

Definition at line 80 of file find_base_pose.cpp.

void worldToMapNoBounds ( double  wx,
double  wy,
int &  mx,
int &  my 
)

Definition at line 94 of file find_base_pose.cpp.


Variable Documentation

Definition at line 65 of file find_base_pose.cpp.

Definition at line 54 of file find_base_pose.cpp.

Definition at line 53 of file find_base_pose.cpp.

Definition at line 53 of file find_base_pose.cpp.

Definition at line 64 of file find_base_pose.cpp.

Definition at line 64 of file find_base_pose.cpp.

Definition at line 64 of file find_base_pose.cpp.

bool map_processed = false

Definition at line 62 of file find_base_pose.cpp.

Definition at line 100 of file find_base_pose.cpp.

float origin_x_ = 0

Definition at line 71 of file find_base_pose.cpp.

float origin_y_ = 0

Definition at line 72 of file find_base_pose.cpp.

float resolution_ = 0

Definition at line 67 of file find_base_pose.cpp.

int size_x_ = 0

Definition at line 68 of file find_base_pose.cpp.

int size_y_ = 0

Definition at line 69 of file find_base_pose.cpp.

Definition at line 55 of file find_base_pose.cpp.

bool we_have_a_map = false

exlude unknown and occupied space from map

Definition at line 61 of file find_base_pose.cpp.

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find_base_pose
Author(s): Thomas Ruehr
autogenerated on Tue Dec 4 06:03:38 2012