Functions | |
| double | getDoorAngle (const door_msgs::Door &door) |
| get the door angle | |
| double | getDoorDir (const door_msgs::Door &d) |
| KDL::Vector | getDoorNormal (const door_msgs::Door &door) |
| geometry_msgs::Point32 | getEdgePoint (const door_msgs::Door &door) |
| double | getFrameAngle (const door_msgs::Door &door) |
| KDL::Vector | getFrameNormal (const door_msgs::Door &door) |
| tf::Stamped< tf::Pose > | getGripperPose (const door_msgs::Door &door, double angle, double dist, int side) |
| tf::Stamped< tf::Pose > | getGripperPose (const door_msgs::Door &door, double angle, double dist) |
| double | getHandleDir (const door_msgs::Door &d) |
| tf::Stamped< tf::Pose > | getHandlePose (const door_msgs::Door &door, int side=1) |
| geometry_msgs::Point32 | getHingeAxisPoint (const door_msgs::Door &door) |
| double | getNearestDoorAngle (const tf::Pose &robot_pose, const door_msgs::Door &door, double robot_dist, double touch_dist) |
| std::vector< geometry_msgs::Point > | getPolygon (const door_msgs::Door &door, const double &door_thickness) |
| tf::Stamped< tf::Pose > | getRobotPose (const door_msgs::Door &door, double dist) |
| get robot and gripper pose | |
| double | getVectorAngle (const Vector &v1, const Vector &v2) |
| double | getVectorAngle (const KDL::Vector &v1, const KDL::Vector &v2) |
| std::ostream & | operator<< (std::ostream &os, const door_msgs::Door &d) |
| door_msgs::Door | rotateDoor (const door_msgs::Door &door, const double &angle) |
| bool | transformPointTo (const tf::Transformer &tf, const string &source_frame, const string &goal_frame, const Time &time_source, const geometry_msgs::Point32 &point_in, geometry_msgs::Point32 &point_out, const std::string &fixed_frame, const Time &time_goal) |
| bool | transformPointTo (const tf::Transformer &tf, const std::string &source_frame, const std::string &goal_frame, const ros::Time &time_source, const geometry_msgs::Point32 &point_in, geometry_msgs::Point32 &point_out, const std::string &fixed_frame, const ros::Time &time_goal) |
| bool | transformTo (const tf::Transformer &tf, const string &goal_frame, const door_msgs::Door &door_in, door_msgs::Door &door_out, const std::string &fixed_frame) |
| bool | transformTo (const tf::Transformer &tf, const std::string &goal_frame, const door_msgs::Door &door_in, door_msgs::Door &door_out, const std::string &fixed_frame="odom_combined") |
| convert door message from its original frame/time, to the goal frame at time::now. | |
| bool | transformVectorTo (const tf::Transformer &tf, const string &source_frame, const string &goal_frame, const Time &time_source, const geometry_msgs::Vector3 &point_in, geometry_msgs::Vector3 &point_out, const std::string &fixed_frame, const Time &time_goal) |
| bool | transformVectorTo (const tf::Transformer &tf, const std::string &source_frame, const std::string &goal_frame, const ros::Time &time_source, const geometry_msgs::Vector3 &point_in, geometry_msgs::Vector3 &point_out, const std::string &fixed_frame, const ros::Time &time_goal) |
Variables | |
| static const double | eps_angle = 5.0*M_PI/180.0 |
| static const double | gripper_height = 0.8 |
| double pr2_doors_common::getDoorAngle | ( | const door_msgs::Door & | door | ) |
get the door angle
Definition at line 225 of file door_functions.cpp.
| double pr2_doors_common::getDoorDir | ( | const door_msgs::Door & | d | ) |
Definition at line 406 of file door_functions.cpp.
| Vector pr2_doors_common::getDoorNormal | ( | const door_msgs::Door & | door | ) |
Definition at line 250 of file door_functions.cpp.
| geometry_msgs::Point32 pr2_doors_common::getEdgePoint | ( | const door_msgs::Door & | door | ) |
Definition at line 169 of file door_functions.cpp.
| double pr2_doors_common::getFrameAngle | ( | const door_msgs::Door & | door | ) |
Definition at line 374 of file door_functions.cpp.
| Vector pr2_doors_common::getFrameNormal | ( | const door_msgs::Door & | door | ) |
Definition at line 257 of file door_functions.cpp.
| tf::Stamped< tf::Pose > pr2_doors_common::getGripperPose | ( | const door_msgs::Door & | door, | |
| double | angle, | |||
| double | dist, | |||
| int | side | |||
| ) |
Definition at line 119 of file door_functions.cpp.
| tf::Stamped< tf::Pose > pr2_doors_common::getGripperPose | ( | const door_msgs::Door & | door, | |
| double | angle, | |||
| double | dist | |||
| ) |
Definition at line 88 of file door_functions.cpp.
| double pr2_doors_common::getHandleDir | ( | const door_msgs::Door & | d | ) |
Definition at line 388 of file door_functions.cpp.
| tf::Stamped< tf::Pose > pr2_doors_common::getHandlePose | ( | const door_msgs::Door & | door, | |
| int | side = 1 | |||
| ) |
Definition at line 181 of file door_functions.cpp.
| geometry_msgs::Point32 pr2_doors_common::getHingeAxisPoint | ( | const door_msgs::Door & | door | ) |
Definition at line 157 of file door_functions.cpp.
| double pr2_doors_common::getNearestDoorAngle | ( | const tf::Pose & | robot_pose, | |
| const door_msgs::Door & | door, | |||
| double | robot_dist, | |||
| double | touch_dist | |||
| ) |
Definition at line 69 of file door_functions.cpp.
| std::vector< geometry_msgs::Point > pr2_doors_common::getPolygon | ( | const door_msgs::Door & | door, | |
| const double & | door_thickness | |||
| ) |
Definition at line 316 of file door_functions.cpp.
| tf::Stamped< tf::Pose > pr2_doors_common::getRobotPose | ( | const door_msgs::Door & | door, | |
| double | dist | |||
| ) |
get robot and gripper pose
Definition at line 48 of file door_functions.cpp.
| double pr2_doors_common::getVectorAngle | ( | const Vector & | v1, | |
| const Vector & | v2 | |||
| ) |
Definition at line 241 of file door_functions.cpp.
| double pr2_doors_common::getVectorAngle | ( | const KDL::Vector & | v1, | |
| const KDL::Vector & | v2 | |||
| ) |
| std::ostream & pr2_doors_common::operator<< | ( | std::ostream & | os, | |
| const door_msgs::Door & | d | |||
| ) |
Definition at line 431 of file door_functions.cpp.
| door_msgs::Door pr2_doors_common::rotateDoor | ( | const door_msgs::Door & | door, | |
| const double & | angle | |||
| ) |
Definition at line 339 of file door_functions.cpp.
| bool pr2_doors_common::transformPointTo | ( | const tf::Transformer & | tf, | |
| const string & | source_frame, | |||
| const string & | goal_frame, | |||
| const Time & | time_source, | |||
| const geometry_msgs::Point32 & | point_in, | |||
| geometry_msgs::Point32 & | point_out, | |||
| const std::string & | fixed_frame, | |||
| const Time & | time_goal | |||
| ) |
Definition at line 288 of file door_functions.cpp.
| bool pr2_doors_common::transformPointTo | ( | const tf::Transformer & | tf, | |
| const std::string & | source_frame, | |||
| const std::string & | goal_frame, | |||
| const ros::Time & | time_source, | |||
| const geometry_msgs::Point32 & | point_in, | |||
| geometry_msgs::Point32 & | point_out, | |||
| const std::string & | fixed_frame, | |||
| const ros::Time & | time_goal | |||
| ) |
| bool pr2_doors_common::transformTo | ( | const tf::Transformer & | tf, | |
| const string & | goal_frame, | |||
| const door_msgs::Door & | door_in, | |||
| door_msgs::Door & | door_out, | |||
| const std::string & | fixed_frame | |||
| ) |
Definition at line 273 of file door_functions.cpp.
| bool pr2_doors_common::transformTo | ( | const tf::Transformer & | tf, | |
| const std::string & | goal_frame, | |||
| const door_msgs::Door & | door_in, | |||
| door_msgs::Door & | door_out, | |||
| const std::string & | fixed_frame = "odom_combined" | |||
| ) |
convert door message from its original frame/time, to the goal frame at time::now.
| bool pr2_doors_common::transformVectorTo | ( | const tf::Transformer & | tf, | |
| const string & | source_frame, | |||
| const string & | goal_frame, | |||
| const Time & | time_source, | |||
| const geometry_msgs::Vector3 & | point_in, | |||
| geometry_msgs::Vector3 & | point_out, | |||
| const std::string & | fixed_frame, | |||
| const Time & | time_goal | |||
| ) |
Definition at line 302 of file door_functions.cpp.
| bool pr2_doors_common::transformVectorTo | ( | const tf::Transformer & | tf, | |
| const std::string & | source_frame, | |||
| const std::string & | goal_frame, | |||
| const ros::Time & | time_source, | |||
| const geometry_msgs::Vector3 & | point_in, | |||
| geometry_msgs::Vector3 & | point_out, | |||
| const std::string & | fixed_frame, | |||
| const ros::Time & | time_goal | |||
| ) |
const double pr2_doors_common::eps_angle = 5.0*M_PI/180.0 [static] |
Definition at line 45 of file door_functions.cpp.
const double pr2_doors_common::gripper_height = 0.8 [static] |
Definition at line 46 of file door_functions.cpp.
