object_manipulator::GraspMarkerPublisher Class Reference

Publishes and keeps track of debug grasp markers. More...

#include <grasp_marker_publisher.h>

Public Member Functions
unsigned int	addGraspMarker (const geometry_msgs::PoseStamped &marker_pose)
	Adds and publishes a marker with default color (blue). Returns the id of the new marker.
void	clearAllMarkers ()
	Removes and deletes all currently displayed markers.
void	colorGraspMarker (unsigned int marker_id, float r, float g, float b)
	Sets the color of the grasp marker with the given id.
	GraspMarkerPublisher (std::string marker_out_name, std::string ns_append, double publishing_rate)
	Advertises the marker topic with aadvanced options.
	GraspMarkerPublisher ()
	Advertises the marker publishing topic with default options.
void	setMarkerPose (unsigned int marker_id, const geometry_msgs::PoseStamped &marker_pose)
	Sets the pose of the marker with the given id.
void	setNamespaceSuffix (std::string ns_append)
	Sets the string to append to the namespace that the markers are published on.
	~GraspMarkerPublisher ()
	Joins the publishing thread, if any.
Private Member Functions
void	init (std::string marker_out_name, std::string ns_append, double publishing_rate)
	Operations common to all constructors, sets all the possible options.
void	publishingThread ()
	Re-publishes all marker periodically.
Private Attributes
double	continuous_publishing_rate_
	The rate of continuous publishing, in seconds.
std::vector < visualization_msgs::Marker >	grasp_markers_
	The current set of visualization markers.
ros::Publisher	marker_pub_
	Publisher for debug markers.
boost::mutex	mutex_
	Mutex for access to list of grasp markers.
std::string	ns_append_
	String to append to the namespace for each marker published by this publisher.
ros::NodeHandle	priv_nh_
	Private node handle.
boost::thread *	publishing_thread_
	Separate thread for continuous publishing.

Detailed Description

Publishes and keeps track of debug grasp markers.

Definition at line 49 of file grasp_marker_publisher.h.

Constructor & Destructor Documentation

object_manipulator::GraspMarkerPublisher::GraspMarkerPublisher ( )

Advertises the marker publishing topic with default options.

Definition at line 63 of file grasp_marker_publisher.cpp.

object_manipulator::GraspMarkerPublisher::GraspMarkerPublisher	(	std::string	marker_out_name,
		std::string	ns_append,
		double	publishing_rate
	)

Advertises the marker topic with aadvanced options.

Definition at line 69 of file grasp_marker_publisher.cpp.

object_manipulator::GraspMarkerPublisher::~GraspMarkerPublisher ( )

Joins the publishing thread, if any.

Definition at line 75 of file grasp_marker_publisher.cpp.

Member Function Documentation

unsigned int object_manipulator::GraspMarkerPublisher::addGraspMarker ( const geometry_msgs::PoseStamped & marker_pose )

Adds and publishes a marker with default color (blue). Returns the id of the new marker.

Definition at line 113 of file grasp_marker_publisher.cpp.

void object_manipulator::GraspMarkerPublisher::clearAllMarkers ( )

Removes and deletes all currently displayed markers.

Definition at line 101 of file grasp_marker_publisher.cpp.

void object_manipulator::GraspMarkerPublisher::colorGraspMarker	(	unsigned int	marker_id,
		float	r,
		float	g,
		float	b
	)

Sets the color of the grasp marker with the given id.

Definition at line 149 of file grasp_marker_publisher.cpp.

void object_manipulator::GraspMarkerPublisher::init	(	std::string	marker_out_name,
		std::string	ns_append,
		double	publishing_rate
	)			`[private]`

Operations common to all constructors, sets all the possible options.

Possible options:

Parameters:

	marker_out_name	- the topic that markers are published on
	ns_append	- a suffix appended to the markers namespace
	publishing_rate	- the rate at which marker get re-published. Use a negative value to disable continuous re-publishing

Definition at line 50 of file grasp_marker_publisher.cpp.

void object_manipulator::GraspMarkerPublisher::publishingThread ( ) [private]

Re-publishes all marker periodically.

Definition at line 85 of file grasp_marker_publisher.cpp.