InHandObjectModeler Class Reference

List of all members.

Public Member Functions
bool	callSegmentObjectInHand (std::string arm_name, sensor_msgs::PointCloud2 &object_in_hand)
	Call the segment_object_in_hand_srv service.
void	executeCB (const pr2_create_object_model::ModelObjectInHandGoalConstPtr &goal)
	Model object in hand action callback.
	InHandObjectModeler ()
bool	moveArmAway (std::string arm_name)
	Move the arm to get it away from stuff.
bool	moveArmIntoView (std::string arm_name)
	Move the arm to a fixed position in front of the head (keep old orientation).
void	pointHead (std::string arm_name)
bool	turnArmInwards (std::string arm_name, sensor_msgs::PointCloud2 &object_in_hand, int keep_level)
	Turn the gripper so it's facing towards the robot.
Private Attributes
tabletop_collision_map_processing::CollisionMapInterface	collision_map_interface_
	Collision interface for adding the object to the collision map, if requested.
object_manipulator::MechanismInterface	mech_interface_
	Mechanism interface for moving the arms/head.
actionlib::SimpleActionServer < pr2_create_object_model::ModelObjectInHandAction >	model_object_action_server_
	Action server for the model_object_in_hand_action.
pr2_create_object_model::ModelObjectInHandResult	model_object_result_
	Result for the action.
ros::NodeHandle	priv_nh_
	Node handle in the private namespace.
ros::Publisher	pub_cloud
	Publisher for the current object in hand point cloud.
ros::NodeHandle	root_nh_
	Node handle in the root namespace.
std::string	segment_object_service_name_
	Name of the segment_object_in_hand service.
bool	stereo_
	Which stereo camera we're using (true = narrow_stereo, false = kinect).

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Detailed Description

Definition at line 53 of file create_object_model_server.cpp.

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Constructor & Destructor Documentation

InHandObjectModeler::InHandObjectModeler

(

)

[inline]

Definition at line 87 of file create_object_model_server.cpp.

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Member Function Documentation

bool InHandObjectModeler::callSegmentObjectInHand	(	std::string	arm_name,
		sensor_msgs::PointCloud2 &	object_in_hand
	)			[inline]

Call the segment_object_in_hand_srv service.

Definition at line 217 of file create_object_model_server.cpp.

void InHandObjectModeler::executeCB

(

const pr2_create_object_model::ModelObjectInHandGoalConstPtr &

goal

)

[inline]

Model object in hand action callback.

Definition at line 110 of file create_object_model_server.cpp.

bool InHandObjectModeler::moveArmAway

(

std::string

arm_name

)

[inline]

Move the arm to get it away from stuff.

Definition at line 387 of file create_object_model_server.cpp.

bool InHandObjectModeler::moveArmIntoView

(

std::string

arm_name

)

[inline]

Move the arm to a fixed position in front of the head (keep old orientation).

Definition at line 258 of file create_object_model_server.cpp.

void InHandObjectModeler::pointHead

(

std::string

arm_name

)

[inline]

Definition at line 233 of file create_object_model_server.cpp.

bool InHandObjectModeler::turnArmInwards	(	std::string	arm_name,
		sensor_msgs::PointCloud2 &	object_in_hand,
		int	keep_level
	)			[inline]

Turn the gripper so it's facing towards the robot.

Definition at line 274 of file create_object_model_server.cpp.

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Member Data Documentation

tabletop_collision_map_processing::CollisionMapInterface InHandObjectModeler::collision_map_interface_ [private]

Collision interface for adding the object to the collision map, if requested.

Definition at line 80 of file create_object_model_server.cpp.

object_manipulator::MechanismInterface InHandObjectModeler::mech_interface_ [private]

Mechanism interface for moving the arms/head.

Definition at line 77 of file create_object_model_server.cpp.

actionlib::SimpleActionServer<pr2_create_object_model::ModelObjectInHandAction> InHandObjectModeler::model_object_action_server_ [private]

Action server for the model_object_in_hand_action.

Definition at line 65 of file create_object_model_server.cpp.

pr2_create_object_model::ModelObjectInHandResult InHandObjectModeler::model_object_result_ [private]

Result for the action.

Definition at line 68 of file create_object_model_server.cpp.

ros::NodeHandle InHandObjectModeler::priv_nh_ [private]

Node handle in the private namespace.

Definition at line 62 of file create_object_model_server.cpp.

ros::Publisher InHandObjectModeler::pub_cloud [private]

Publisher for the current object in hand point cloud.

Definition at line 71 of file create_object_model_server.cpp.

ros::NodeHandle InHandObjectModeler::root_nh_ [private]

Node handle in the root namespace.

Definition at line 59 of file create_object_model_server.cpp.

std::string InHandObjectModeler::segment_object_service_name_ [private]

Name of the segment_object_in_hand service.

Definition at line 74 of file create_object_model_server.cpp.

bool InHandObjectModeler::stereo_ [private]

Which stereo camera we're using (true = narrow_stereo, false = kinect).

Definition at line 83 of file create_object_model_server.cpp.

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The documentation for this class was generated from the following file:

• create_object_model_server.cpp