articulation_structure: ArticulatedObject.h Source File

00001 /*
00002  * ArticulatedObject.h
00003  *
00004  *  Created on: Sep 14, 2010
00005  *      Author: sturm
00006  */
00007 
00008 #ifndef ARTICULATEDOBJECT_H_
00009 #define ARTICULATEDOBJECT_H_
00010 
00011 #include "articulation_msgs/TrackModelSrv.h"
00012 #include "articulation_msgs/ArticulatedObjectSrv.h"
00013 #include "articulation_msgs/ArticulatedObjectMsg.h"
00014 #include "articulation_models/models/factory.h"
00015 #include "articulation_models/utils.h"
00016 #include "structs.h"
00017 
00018 
00019 class ArticulatedObject: public KinematicParams, public KinematicData {
00020 public:
00021         articulation_msgs::ArticulatedObjectMsg object_msg;
00022         KinematicGraph currentGraph;
00023         std::map< std::string, KinematicGraph > graphMap;
00024         ArticulatedObject();
00025         ArticulatedObject(const KinematicParams &other);
00026         void SetObjectModel(const articulation_msgs::ArticulatedObjectMsg &msg,ros::NodeHandle* nh_local);
00027         articulation_msgs::ArticulatedObjectMsg& GetObjectModel();
00028         void FitModels();
00029         KinematicGraph getSpanningTree();
00030         void ComputeSpanningTree();
00031         void getFastGraph();
00032         void getGraph();
00033         void enumerateGraphs();
00034         void saveEval();
00035 };
00036 
00037 #endif /* ARTICULATEDOBJECT_H_ */