FindBasePoseAction Class Reference

end: exlude unknown and occupied space from map More...

Public Member Functions
bool	collisionFree (btTransform relativePose)
bool	collisionFreeCoarse (btTransform relativePose)
bool	collisionFreeFine (btTransform relativePose)
void	executeCB (const find_base_pose::FindBasePoseGoalConstPtr &goal)
	FindBasePoseAction (std::string name)
void	generateCandidatePoses (std::vector< tf::Pose > &search_poses, std::vector< tf::Stamped< tf::Pose > > target_poses, tf::Pose preTrans, const std::vector< std_msgs::Int32 > &arm)
tf::Stamped< tf::Pose >	getPoseIn (const char target_frame[], tf::Stamped< tf::Pose >src)
bool	insideBB (int side, geometry_msgs::PoseStamped pose)
void	pubBaseMarker (std::vector< btVector3 > pts, float colr=0, float colg=1, float colb=0, float si_=0.325)
void	pubBaseMarker (tf::Pose pose, float colr=0, float colg=1, float colb=0, float si_=0.325)
void	pubBaseMarker (float dx, float dy, float dz=0, float colr=0, float colg=1, float colb=0, float si_=0.325)
void	pubBaseMarkerArrow (geometry_msgs::PoseStamped pose, float colr=0, float colg=1, float colb=0)
void	pubBaseMarkerArrow (tf::Pose pose, float colr=0, float colg=1, float colb=0)
void	pubBaseMarkerBlob (tf::Pose pose, float colr=0, float colg=1, float colb=0)
void	pubBaseMarkerBlob (float dx, float dy, float dz, float colr=0, float colg=1, float colb=0)
tf::Pose	rotateAroundPose (tf::Pose toolPose, tf::Pose pivot, btQuaternion qa)
bool	run_ik (int side_, geometry_msgs::PoseStamped pose, double start_angles[7], double solution[7])
void	scanCallback (const sensor_msgs::LaserScan::ConstPtr &scan_in)
tf::Stamped< tf::Pose >	tool2wrist (tf::Stamped< tf::Pose > toolPose)
	~FindBasePoseAction (void)
Static Public Member Functions
static bool	pose_compare (tf::Pose a, tf::Pose b)
Protected Attributes
std::string	action_name_
actionlib::SimpleActionServer < find_base_pose::FindBasePoseAction >	as_
btVector3	bbox [2][2]
find_base_pose::FindBasePoseFeedback	feedback_
ros::ServiceClient	ik_client [2]
tf::TransformListener *	listener_
int	markerCnt
ros::NodeHandle	nh_
size_t	numScanPoints
laser_geometry::LaserProjection *	projector_
find_base_pose::FindBasePoseResult	result_
boost::mutex	scan_mutex
btVector3	scanPoints [5000]
ros::Subscriber	subScan_
	We need laser scans for avoiding obstacles.
ros::Publisher	vis_pub
bool	weHaveScan

Detailed Description

end: exlude unknown and occupied space from map

Definition at line 245 of file find_base_pose.cpp.

Constructor & Destructor Documentation

FindBasePoseAction::FindBasePoseAction ( std::string name ) [inline]

Definition at line 277 of file find_base_pose.cpp.

FindBasePoseAction::~FindBasePoseAction ( void ) [inline]

Definition at line 313 of file find_base_pose.cpp.

Member Function Documentation

bool FindBasePoseAction::collisionFree ( btTransform relativePose ) [inline]

Definition at line 689 of file find_base_pose.cpp.

bool FindBasePoseAction::collisionFreeCoarse ( btTransform relativePose ) [inline]

Definition at line 644 of file find_base_pose.cpp.

bool FindBasePoseAction::collisionFreeFine ( btTransform relativePose ) [inline]

Definition at line 660 of file find_base_pose.cpp.

void FindBasePoseAction::executeCB ( const find_base_pose::FindBasePoseGoalConstPtr & goal ) [inline]

Definition at line 1059 of file find_base_pose.cpp.

void FindBasePoseAction::generateCandidatePoses	(	std::vector< tf::Pose > &	search_poses,
		std::vector< tf::Stamped< tf::Pose > >	target_poses,
		tf::Pose	preTrans,
		const std::vector< std_msgs::Int32 > &	arm
	)			`[inline]`

Definition at line 961 of file find_base_pose.cpp.

tf::Stamped<tf::Pose> FindBasePoseAction::getPoseIn	(	const char	target_frame[],
		tf::Stamped< tf::Pose >	src
	)			`[inline]`

Definition at line 751 of file find_base_pose.cpp.

bool FindBasePoseAction::insideBB	(	int	side,
		geometry_msgs::PoseStamped	pose
	)			`[inline]`

Definition at line 784 of file find_base_pose.cpp.

static bool FindBasePoseAction::pose_compare	(	tf::Pose	a,
		tf::Pose	b
	)			`[inline, static]`

Definition at line 954 of file find_base_pose.cpp.

void FindBasePoseAction::pubBaseMarker	(	std::vector< btVector3 >	pts,
		float	colr = `0`,
		float	colg = `1`,
		float	colb = `0`,
		float	si_ = `0.325`
	)			`[inline]`

Definition at line 574 of file find_base_pose.cpp.

void FindBasePoseAction::pubBaseMarker	(	tf::Pose	pose,
		float	colr = `0`,
		float	colg = `1`,
		float	colb = `0`,
		float	si_ = `0.325`
	)			`[inline]`

Definition at line 496 of file find_base_pose.cpp.

void FindBasePoseAction::pubBaseMarker	(	float	dx,
		float	dy,
		float	dz = `0`,
		float	colr = `0`,
		float	colg = `1`,
		float	colb = `0`,
		float	si_ = `0.325`
	)			`[inline]`