pr2_interactive_manipulation::CartesianGripperControl Class Reference

#include <cartesian_gripper_control.h>

Public Types
enum	StatusT { HIDDEN, IDLE, ROTATING, DRAGGING }
Public Member Functions
	CartesianGripperControl (std::string arm_name, std::string gripper_frame, std::string reference_frame, rviz::VisualizationManager *vis_manager)
float	getClosestIntersection (Ogre::Ray mouse_ray)
rviz::status_levels::StatusLevel	getStatusLevel () const
std::string	getStatusText () const
bool	getUseReferenceFrame ()
void	hide ()
void	mouseDown (Ogre::Ray mouse_ray)
void	mouseMove (Ogre::Ray mouse_ray)
void	mouseUp (Ogre::Ray mouse_ray)
void	reset ()
void	setUseReferenceFrame (bool use)
void	show ()
void	update ()
virtual	~CartesianGripperControl ()
Static Public Attributes
static const float	NO_INTERSECTION = 99999
Protected Types
enum	SideT { POS, NEG }
Protected Member Functions
void	addControls (unsigned axis)
ogre_tools::Shape *	addDragBox (Ogre::Vector3 axis)
void	addRing (Ogre::Vector3 axis1, Ogre::Vector3 axis2, Ogre::MaterialPtr material, unsigned render_queue_group)
void	addRingSegment (Ogre::Vector3 axis1, Ogre::Vector3 axis2, Ogre::MaterialPtr material, unsigned render_queue_group, float a_min, float a_max)
Ogre::Vector3	getAxis (unsigned axis)
bool	getClosestBox (Ogre::Ray mouse_ray, Ogre::Vector3 &nearest_intersection_3d, float &nearest_intersection_1d, float &nearest_t, unsigned &nearest_axis, SideT &nearest_side)
bool	getClosestPosition (Ogre::Ray mouse_ray, unsigned axis, float &pos)
bool	getClosestRing (Ogre::Ray mouse_ray, Ogre::Vector3 &nearest_intersection_3d, Ogre::Vector2 &nearest_intersection_2d, float &nearest_t, unsigned &nearest_axis)
bool	getTransform (std::string frame, Ogre::Vector3 &position, Ogre::Quaternion &orientation)
bool	intersectBox (Ogre::Ray mouse_ray, unsigned axis, SideT side, Ogre::Vector3 &intersection_3d, float &intersection_1d, float &ray_t)
bool	intersectPlane (Ogre::Ray mouse_ray, unsigned axis, Ogre::Vector3 &intersection_3d, Ogre::Vector2 &intersection_2d, float &ray_t)
bool	intersectRing (Ogre::Ray mouse_ray, unsigned axis, Ogre::Vector3 &intersection_3d, Ogre::Vector2 &intersection_2d, float &ray_t, float inner_radius=HANDLE_RADIUS_INNER, float outer_radius=HANDLE_RADIUS_OUTER)
void	setStatus (rviz::status_levels::StatusLevel level, const std::string &text)
void	translateRealGripper ()
Protected Attributes
std::string	arm_name_
Ogre::SceneNode *	controls_node_
std::map< unsigned, std::map < SideT, ogre_tools::Shape * > >	drag_boxes_
rviz_interaction_tools::Gripper *	gripper_
std::string	gripper_frame_
Ogre::SceneNode *	gripper_node_
Ogre::Vector3	gripper_offset_
double	last_angle_
int	last_axis_
double	last_drag_pos_
SideT	last_drag_side_
Ogre::SceneNode *	main_node_
ogre_tools::Shape *	marker_
std::string	reference_frame_
std::vector < rviz_interaction_tools::MeshObject * >	ring_segments_
StatusT	status_
rviz::status_levels::StatusLevel	status_level_
std::string	status_text_
bool	use_reference_frame_
rviz::VisualizationManager *	vis_manager_
Static Protected Attributes
static const float	HANDLE_ALPHA = 0.5
static const float	HANDLE_RADIUS_INNER = 0.10
static const float	HANDLE_RADIUS_OUTER = 0.13
static const float	HANDLE_SIZE = 0.03

Detailed Description

Definition at line 57 of file cartesian_gripper_control.h.

Member Enumeration Documentation

enum pr2_interactive_manipulation::CartesianGripperControl::SideT [protected]

Enumerator:

POS
NEG

Definition at line 104 of file cartesian_gripper_control.h.

enum pr2_interactive_manipulation::CartesianGripperControl::StatusT

Enumerator:

HIDDEN
IDLE
ROTATING
DRAGGING

Definition at line 63 of file cartesian_gripper_control.h.

Constructor & Destructor Documentation

pr2_interactive_manipulation::CartesianGripperControl::CartesianGripperControl	(	std::string	arm_name,
		std::string	gripper_frame,
		std::string	reference_frame,
		rviz::VisualizationManager *	vis_manager
	)

Definition at line 51 of file cartesian_gripper_control.cpp.

pr2_interactive_manipulation::CartesianGripperControl::~CartesianGripperControl ( ) [virtual]

Definition at line 83 of file cartesian_gripper_control.cpp.

Member Function Documentation

void pr2_interactive_manipulation::CartesianGripperControl::addControls ( unsigned axis ) [protected]

Definition at line 96 of file cartesian_gripper_control.cpp.

ogre_tools::Shape * pr2_interactive_manipulation::CartesianGripperControl::addDragBox ( Ogre::Vector3 axis ) [protected]

Definition at line 115 of file cartesian_gripper_control.cpp.

void pr2_interactive_manipulation::CartesianGripperControl::addRing	(	Ogre::Vector3	axis1,
		Ogre::Vector3	axis2,
		Ogre::MaterialPtr	material,
		unsigned	render_queue_group
	)			`[protected]`

Definition at line 136 of file cartesian_gripper_control.cpp.

void pr2_interactive_manipulation::CartesianGripperControl::addRingSegment	(	Ogre::Vector3	axis1,
		Ogre::Vector3	axis2,
		Ogre::MaterialPtr	material,
		unsigned	render_queue_group,
		float	a_min,
		float	a_max
	)			`[protected]`

Definition at line 147 of file cartesian_gripper_control.cpp.

Ogre::Vector3 pr2_interactive_manipulation::CartesianGripperControl::getAxis ( unsigned axis ) [protected]

Definition at line 603 of file cartesian_gripper_control.cpp.

bool pr2_interactive_manipulation::CartesianGripperControl::getClosestBox	(	Ogre::Ray	mouse_ray,
		Ogre::Vector3 &	nearest_intersection_3d,
		float &	nearest_intersection_1d,
		float &	nearest_t,
		unsigned &	nearest_axis,
		SideT &	nearest_side
	)			`[protected]`

Definition at line 530 of file cartesian_gripper_control.cpp.

float pr2_interactive_manipulation::CartesianGripperControl::getClosestIntersection ( Ogre::Ray mouse_ray )

Definition at line 296 of file cartesian_gripper_control.cpp.

bool pr2_interactive_manipulation::CartesianGripperControl::getClosestPosition	(	Ogre::Ray	mouse_ray,
		unsigned	axis,
		float &	pos
	)			`[protected]`

Definition at line 621 of file cartesian_gripper_control.cpp.

bool pr2_interactive_manipulation::CartesianGripperControl::getClosestRing	(	Ogre::Ray	mouse_ray,
		Ogre::Vector3 &	nearest_intersection_3d,
		Ogre::Vector2 &	nearest_intersection_2d,
		float &	nearest_t,
		unsigned &	nearest_axis
	)			`[protected]`

Definition at line 461 of file cartesian_gripper_control.cpp.

rviz::status_levels::StatusLevel pr2_interactive_manipulation::CartesianGripperControl::getStatusLevel ( ) const [inline]

Definition at line 80 of file cartesian_gripper_control.h.

std::string pr2_interactive_manipulation::CartesianGripperControl::getStatusText ( ) const [inline]

Definition at line 79 of file cartesian_gripper_control.h.

bool pr2_interactive_manipulation::CartesianGripperControl::getTransform	(	std::string	frame,
		Ogre::Vector3 &	position,
		Ogre::Quaternion &	orientation
	)			`[protected]`

Definition at line 246 of file cartesian_gripper_control.cpp.

bool pr2_interactive_manipulation::CartesianGripperControl::getUseReferenceFrame ( ) [inline]

Definition at line 92 of file cartesian_gripper_control.h.

void pr2_interactive_manipulation::CartesianGripperControl::hide ( )

Definition at line 194 of file cartesian_gripper_control.cpp.

bool pr2_interactive_manipulation::CartesianGripperControl::intersectBox	(	Ogre::Ray	mouse_ray,
		unsigned	axis,
		SideT	side,
		Ogre::Vector3 &	intersection_3d,
		float &	intersection_1d,
		float &	ray_t
	)			`[protected]`

Definition at line 562 of file cartesian_gripper_control.cpp.

bool pr2_interactive_manipulation::CartesianGripperControl::intersectPlane	(	Ogre::Ray	mouse_ray,
		unsigned	axis,
		Ogre::Vector3 &	intersection_3d,
		Ogre::Vector2 &	intersection_2d,
		float &	ray_t
	)			`[protected]`

Definition at line 498 of file cartesian_gripper_control.cpp.

bool pr2_interactive_manipulation::CartesianGripperControl::intersectRing	(	Ogre::Ray	mouse_ray,
		unsigned	axis,
		Ogre::Vector3 &	intersection_3d,
		Ogre::Vector2 &	intersection_2d,
		float &	ray_t,
		float	inner_radius = `HANDLE_RADIUS_INNER`,
		float	outer_radius = `HANDLE_RADIUS_OUTER`
	)			`[protected]`