ObjectsDatabaseNode Class Reference

Wraps around database connection to provide database-related services through ROS. More...

Public Member Functions
	ObjectsDatabaseNode ()
	~ObjectsDatabaseNode ()
Private Member Functions
bool	getDescriptionCB (GetModelDescription::Request &request, GetModelDescription::Response &response)
	Callback for the get description service.
bool	getGrasps (const GraspableObject &target, const std::string &arm_name, std::vector< Grasp > &grasps, GraspPlanningErrorCode &error_code)
bool	getMeshCB (GetModelMesh::Request &request, GetModelMesh::Response &response)
	Callback for the get mesh service.
bool	getModelsCB (GetModelList::Request &request, GetModelList::Response &response)
	Callback for the get models service.
bool	getScansCB (GetModelScans::Request &request, GetModelScans::Response &response)
void	graspPlanningActionCB (const object_manipulation_msgs::GraspPlanningGoalConstPtr &goal)
bool	graspPlanningCB (GraspPlanning::Request &request, GraspPlanning::Response &response)
	Callback for the get grasps service.
geometry_msgs::Pose	multiplyPoses (const geometry_msgs::Pose &p1, const geometry_msgs::Pose &p2)
virtual void	pruneGraspList (std::vector< boost::shared_ptr< DatabaseGrasp > > &grasps, double gripper_threshold, double table_clearance_threshold)
	Prune grasps that require gripper to be open all the way, or that are marked in db as colliding with table.
bool	saveScanCB (SaveScan::Request &request, SaveScan::Response &response)
bool	translateIdCB (TranslateRecognitionId::Request &request, TranslateRecognitionId::Response &response)
Private Attributes
ObjectsDatabase *	database_
	The database connection itself.
ros::ServiceServer	get_description_srv_
	Server for the get description service.
ros::ServiceServer	get_mesh_srv_
	Server for the get mesh service.
ros::ServiceServer	get_models_srv_
	Server for the get models service.
ros::ServiceServer	get_scans_srv_
	Server for the get scans service.
actionlib::SimpleActionServer < object_manipulation_msgs::GraspPlanningAction > *	grasp_planning_server_
	The action server for grasping planning.
ros::ServiceServer	grasp_planning_srv_
	Server for the get grasps service.
tf::TransformListener	listener_
	Transform listener.
ros::NodeHandle	priv_nh_
	Node handle in the private namespace.
double	prune_gripper_opening_
	Threshold for pruning grasps based on gripper opening.
double	prune_table_clearance_
	Threshold for pruning grasps based on table clearance.
ros::NodeHandle	root_nh_
	Node handle in the root namespace.
ros::ServiceServer	save_scan_srv_
	Server for the save scan service.
ros::ServiceServer	translate_id_srv_
	Server for the id translation service.

Detailed Description

Wraps around database connection to provide database-related services through ROS.

Contains very thin wrappers for getting a list of scaled models and for getting the mesh of a model, as well as a complete server for the grasp planning service

Definition at line 138 of file objects_database_node.cpp.

Constructor & Destructor Documentation

ObjectsDatabaseNode::ObjectsDatabaseNode ( ) [inline]

Definition at line 529 of file objects_database_node.cpp.

ObjectsDatabaseNode::~ObjectsDatabaseNode ( ) [inline]

Definition at line 577 of file objects_database_node.cpp.

Member Function Documentation

bool ObjectsDatabaseNode::getDescriptionCB	(	GetModelDescription::Request &	request,
		GetModelDescription::Response &	response
	)			`[inline, private]`

Callback for the get description service.

Definition at line 251 of file objects_database_node.cpp.

bool ObjectsDatabaseNode::getGrasps	(	const GraspableObject &	target,
		const std::string &	arm_name,
		std::vector< Grasp > &	grasps,
		GraspPlanningErrorCode &	error_code
	)			`[inline, private]`

Definition at line 355 of file objects_database_node.cpp.

bool ObjectsDatabaseNode::getMeshCB	(	GetModelMesh::Request &	request,
		GetModelMesh::Response &	response
	)			`[inline, private]`

Callback for the get mesh service.

Definition at line 234 of file objects_database_node.cpp.

bool ObjectsDatabaseNode::getModelsCB	(	GetModelList::Request &	request,
		GetModelList::Response &	response
	)			`[inline, private]`

Callback for the get models service.

Definition at line 212 of file objects_database_node.cpp.

bool ObjectsDatabaseNode::getScansCB	(	GetModelScans::Request &	request,
		GetModelScans::Response &	response
	)			`[inline, private]`

Definition at line 275 of file objects_database_node.cpp.

void ObjectsDatabaseNode::graspPlanningActionCB ( const object_manipulation_msgs::GraspPlanningGoalConstPtr & goal ) [inline, private]

Definition at line 495 of file objects_database_node.cpp.

bool ObjectsDatabaseNode::graspPlanningCB	(	GraspPlanning::Request &	request,
		GraspPlanning::Response &	response
	)			`[inline, private]`

Callback for the get grasps service.

Definition at line 489 of file objects_database_node.cpp.

geometry_msgs::Pose ObjectsDatabaseNode::multiplyPoses	(	const geometry_msgs::Pose &	p1,
		const geometry_msgs::Pose &	p2
	)			`[inline, private]`

Definition at line 341 of file objects_database_node.cpp.

virtual void ObjectsDatabaseNode::pruneGraspList	(	std::vector< boost::shared_ptr< DatabaseGrasp > > &	grasps,
		double	gripper_threshold,
		double	table_clearance_threshold
	)			`[inline, private, virtual]`