ActarrayCloudAssembler Class Reference

List of all members.

Public Member Functions
void	actarray_cb (const PlayerActarrayConstPtr &actarray)
	ActarrayCloudAssembler ()
void	get_log_files (const path &directory, vector< string > &file_list, string suffix=".log", bool recurse_into_subdirs=false)
void	getDHParameters (string armDH, vector< DH > &arm_params)
void	getGlobalTransformation (const vector< DH > &params, const vector< double > &joints, Eigen::Matrix4d &global_transformation)
void	getJointTransformation (const DH &param, const double &q, Eigen::Matrix4d &T)
bool	interpolateActarrayValues (const LaserScanConstPtr &laser_packet, vector< PlayerActarrayConstPtr > &actarrays, vector< double > &q_values)
void	printDHParameters (const vector< DH > &params)
void	scan_cb (const LaserScanConstPtr &scan)
bool	spin ()
int	update_parameters_from_server ()
virtual	~ActarrayCloudAssembler ()
Public Attributes
Subscriber	actarray_sub_
vector< PlayerActarrayConstPtr >	actarrays_
vector< DH >	arm_params_
PointCloud	cloud_
Publisher	cloud_pub_
string	cur_file_
string	dir_
vector< string >	file_list_
double	first_act_stamp_
double	laser_max_angle_
double	laser_min_angle_
Subscriber	laserscan_sub_
bool	left_arm_
double	max_distance_
double	min_distance_
int	save_to_pcd_actarray_
int	save_to_pcd_laser_
list< LaserScanConstPtr >	scans_
Eigen::Vector4d	translation_
Protected Attributes
boost::mutex	a_lock_
tf::TransformBroadcaster	broadcaster_
NodeHandle	nh_
boost::mutex	s_lock_
string	tf_frame_
int	total_laser_scans_
tf::Stamped< tf::Transform >	transform_

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Detailed Description

Definition at line 77 of file actarray_cloud_assembler.cpp.

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Constructor & Destructor Documentation

ActarrayCloudAssembler::ActarrayCloudAssembler

(

)

[inline]

Definition at line 110 of file actarray_cloud_assembler.cpp.

virtual ActarrayCloudAssembler::~ActarrayCloudAssembler

(

)

[inline, virtual]

Definition at line 163 of file actarray_cloud_assembler.cpp.

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Member Function Documentation

void ActarrayCloudAssembler::actarray_cb

(

const PlayerActarrayConstPtr &

actarray

)

[inline]

Definition at line 263 of file actarray_cloud_assembler.cpp.

void ActarrayCloudAssembler::get_log_files	(	const path &	directory,
		vector< string > &	file_list,
		string	suffix = ".log",
		bool	recurse_into_subdirs = false
	)			[inline]

Definition at line 284 of file actarray_cloud_assembler.cpp.

void ActarrayCloudAssembler::getDHParameters	(	string	armDH,
		vector< DH > &	arm_params
	)			[inline]

Definition at line 168 of file actarray_cloud_assembler.cpp.

void ActarrayCloudAssembler::getGlobalTransformation	(	const vector< DH > &	params,
		const vector< double > &	joints,
		Eigen::Matrix4d &	global_transformation
	)			[inline]

Definition at line 215 of file actarray_cloud_assembler.cpp.

void ActarrayCloudAssembler::getJointTransformation	(	const DH &	param,
		const double &	q,
		Eigen::Matrix4d &	T
	)			[inline]

Definition at line 198 of file actarray_cloud_assembler.cpp.

bool ActarrayCloudAssembler::interpolateActarrayValues	(	const LaserScanConstPtr &	laser_packet,
		vector< PlayerActarrayConstPtr > &	actarrays,
		vector< double > &	q_values
	)			[inline]

Definition at line 229 of file actarray_cloud_assembler.cpp.

void ActarrayCloudAssembler::printDHParameters

(

const vector< DH > &

params

)

[inline]

Definition at line 189 of file actarray_cloud_assembler.cpp.

void ActarrayCloudAssembler::scan_cb

(

const LaserScanConstPtr &

scan

)

[inline]

Definition at line 273 of file actarray_cloud_assembler.cpp.

bool ActarrayCloudAssembler::spin

(

)

[inline]

Definition at line 335 of file actarray_cloud_assembler.cpp.

int ActarrayCloudAssembler::update_parameters_from_server

(

)

[inline]

Definition at line 309 of file actarray_cloud_assembler.cpp.

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Member Data Documentation

boost::mutex ActarrayCloudAssembler::a_lock_ [protected]

Definition at line 84 of file actarray_cloud_assembler.cpp.

Subscriber ActarrayCloudAssembler::actarray_sub_

Definition at line 95 of file actarray_cloud_assembler.cpp.

vector<PlayerActarrayConstPtr> ActarrayCloudAssembler::actarrays_

Definition at line 90 of file actarray_cloud_assembler.cpp.

vector<DH> ActarrayCloudAssembler::arm_params_

Definition at line 99 of file actarray_cloud_assembler.cpp.

tf::TransformBroadcaster ActarrayCloudAssembler::broadcaster_ [protected]

Definition at line 82 of file actarray_cloud_assembler.cpp.

PointCloud ActarrayCloudAssembler::cloud_

Definition at line 93 of file actarray_cloud_assembler.cpp.

Publisher ActarrayCloudAssembler::cloud_pub_

Definition at line 97 of file actarray_cloud_assembler.cpp.

string ActarrayCloudAssembler::cur_file_

Definition at line 107 of file actarray_cloud_assembler.cpp.

string ActarrayCloudAssembler::dir_

Definition at line 107 of file actarray_cloud_assembler.cpp.

vector<string> ActarrayCloudAssembler::file_list_

Definition at line 106 of file actarray_cloud_assembler.cpp.

double ActarrayCloudAssembler::first_act_stamp_

Definition at line 91 of file actarray_cloud_assembler.cpp.

double ActarrayCloudAssembler::laser_max_angle_

Definition at line 102 of file actarray_cloud_assembler.cpp.

double ActarrayCloudAssembler::laser_min_angle_

Definition at line 102 of file actarray_cloud_assembler.cpp.

Subscriber ActarrayCloudAssembler::laserscan_sub_

Definition at line 95 of file actarray_cloud_assembler.cpp.

bool ActarrayCloudAssembler::left_arm_

Definition at line 103 of file actarray_cloud_assembler.cpp.

double ActarrayCloudAssembler::max_distance_

Definition at line 102 of file actarray_cloud_assembler.cpp.

double ActarrayCloudAssembler::min_distance_

Definition at line 102 of file actarray_cloud_assembler.cpp.

NodeHandle ActarrayCloudAssembler::nh_ [protected]

Definition at line 81 of file actarray_cloud_assembler.cpp.

boost::mutex ActarrayCloudAssembler::s_lock_ [protected]

Definition at line 84 of file actarray_cloud_assembler.cpp.

int ActarrayCloudAssembler::save_to_pcd_actarray_

Definition at line 105 of file actarray_cloud_assembler.cpp.

int ActarrayCloudAssembler::save_to_pcd_laser_

Definition at line 105 of file actarray_cloud_assembler.cpp.

list<LaserScanConstPtr> ActarrayCloudAssembler::scans_

Definition at line 89 of file actarray_cloud_assembler.cpp.

string ActarrayCloudAssembler::tf_frame_ [protected]

Definition at line 80 of file actarray_cloud_assembler.cpp.

int ActarrayCloudAssembler::total_laser_scans_ [protected]

Definition at line 86 of file actarray_cloud_assembler.cpp.

tf::Stamped<tf::Transform> ActarrayCloudAssembler::transform_ [protected]

Definition at line 83 of file actarray_cloud_assembler.cpp.

Eigen::Vector4d ActarrayCloudAssembler::translation_

Definition at line 101 of file actarray_cloud_assembler.cpp.

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

• actarray_cloud_assembler.cpp