#include <cart_state_estimator.h>
Public Member Functions | |
CartStateEstimator () | |
Private Member Functions | |
void | broadcastCartPose (const string &frame, const btTransform &trans) |
btTransform | cartPoseFromCheckerboard (const btTransform &cb_pose) const |
StampedTransform | computeCartFrame (const StampedPose &left, const StampedPose &right) const |
gm::PolygonStamped | getProjectedFootprint () const |
void | publishState (const ros::WallTimerEvent &e) |
Private Attributes | |
const double | cart_length_ |
const btTransform | cart_to_board_ |
const double | cart_width_ |
ros::ServiceClient | effector_to_cart_client_ |
const geometry_msgs::PolygonStamped | footprint_ |
ros::Publisher | footprint_pub_ |
const double | footprint_x_offset_ |
const double | footprint_y_offset_ |
const string | l_gripper_frame_ |
boost::mutex | mutex_ |
ros::NodeHandle | nh_ |
ros::WallTimer | pub_timer_ |
const double | publication_interval_ |
const bool | publish_fake_transforms_ |
const string | r_gripper_frame_ |
ros::ServiceClient | set_solver_transforms_client_ |
tf::TransformBroadcaster | tf_broadcaster_ |
tf::TransformListener | tf_listener_ |
const double | transform_recency_threshold_ |
Definition at line 57 of file cart_state_estimator.h.
cart_state_estimator::CartStateEstimator::CartStateEstimator | ( | ) |
Definition at line 63 of file cart_state_estimator.cpp.
void cart_state_estimator::CartStateEstimator::broadcastCartPose | ( | const string & | frame, | |
const btTransform & | trans | |||
) | [private] |
Definition at line 131 of file cart_state_estimator.cpp.
btTransform cart_state_estimator::CartStateEstimator::cartPoseFromCheckerboard | ( | const btTransform & | cb_pose | ) | const [private] |
Definition at line 125 of file cart_state_estimator.cpp.
StampedTransform cart_state_estimator::CartStateEstimator::computeCartFrame | ( | const StampedPose & | left, | |
const StampedPose & | right | |||
) | const [private] |
Definition at line 95 of file cart_state_estimator.cpp.
gm::PolygonStamped cart_state_estimator::CartStateEstimator::getProjectedFootprint | ( | ) | const [private] |
Definition at line 106 of file cart_state_estimator.cpp.
void cart_state_estimator::CartStateEstimator::publishState | ( | const ros::WallTimerEvent & | e | ) | [private] |
const double cart_state_estimator::CartStateEstimator::cart_length_ [private] |
Definition at line 72 of file cart_state_estimator.h.
const btTransform cart_state_estimator::CartStateEstimator::cart_to_board_ [private] |
Definition at line 80 of file cart_state_estimator.h.
const double cart_state_estimator::CartStateEstimator::cart_width_ [private] |
Definition at line 71 of file cart_state_estimator.h.
ros::ServiceClient cart_state_estimator::CartStateEstimator::effector_to_cart_client_ [private] |
Definition at line 88 of file cart_state_estimator.h.
const geometry_msgs::PolygonStamped cart_state_estimator::CartStateEstimator::footprint_ [private] |
Definition at line 75 of file cart_state_estimator.h.
ros::Publisher cart_state_estimator::CartStateEstimator::footprint_pub_ [private] |
Definition at line 87 of file cart_state_estimator.h.
const double cart_state_estimator::CartStateEstimator::footprint_x_offset_ [private] |
Definition at line 76 of file cart_state_estimator.h.
const double cart_state_estimator::CartStateEstimator::footprint_y_offset_ [private] |
Definition at line 76 of file cart_state_estimator.h.
const string cart_state_estimator::CartStateEstimator::l_gripper_frame_ [private] |
Definition at line 73 of file cart_state_estimator.h.
boost::mutex cart_state_estimator::CartStateEstimator::mutex_ [private] |
Definition at line 82 of file cart_state_estimator.h.
ros::NodeHandle cart_state_estimator::CartStateEstimator::nh_ [private] |
Definition at line 83 of file cart_state_estimator.h.
ros::WallTimer cart_state_estimator::CartStateEstimator::pub_timer_ [private] |
Definition at line 86 of file cart_state_estimator.h.
const double cart_state_estimator::CartStateEstimator::publication_interval_ [private] |
Definition at line 77 of file cart_state_estimator.h.
const bool cart_state_estimator::CartStateEstimator::publish_fake_transforms_ [private] |
Definition at line 74 of file cart_state_estimator.h.
const string cart_state_estimator::CartStateEstimator::r_gripper_frame_ [private] |
Definition at line 73 of file cart_state_estimator.h.
ros::ServiceClient cart_state_estimator::CartStateEstimator::set_solver_transforms_client_ [private] |
Definition at line 89 of file cart_state_estimator.h.
tf::TransformBroadcaster cart_state_estimator::CartStateEstimator::tf_broadcaster_ [private] |
Definition at line 85 of file cart_state_estimator.h.
tf::TransformListener cart_state_estimator::CartStateEstimator::tf_listener_ [private] |
Definition at line 84 of file cart_state_estimator.h.
const double cart_state_estimator::CartStateEstimator::transform_recency_threshold_ [private] |
Definition at line 78 of file cart_state_estimator.h.