This class estimate and publish the points which are necessary for grasping the object. More...
#include <gripper_points_publisher.h>
Public Member Functions | |
void | callback (const PointCloud::ConstPtr &object, const PointCloud::ConstPtr &scene, tf::TransformListener *listener) |
get the recognized object and create a filtered PointCloud | |
GripperPointsPublisher () | |
void | sendGripperPoints (PointCloud Gripper, PointCloud scene) |
publish the gripper points | |
Public Attributes | |
ros::Publisher | pubGripper |
ros::Publisher | pubGripper_single |
This class estimate and publish the points which are necessary for grasping the object.
Filter the incoming cloud with a PassThrough filter.
For more informations about the PassThrough filter visit: http://pointclouds.org/documentation/tutorials/passthrough.php#passthrough
Then extract the leftest and rightest point from the filtered_cloud as grasp_points for the pr2 Publish these two points and for visualization on rviz the whole filtered_cloud.
Definition at line 17 of file gripper_points_publisher.h.
Definition at line 6 of file gripper_points_publisher.cpp.
void GripperPointsPublisher::callback | ( | const PointCloud::ConstPtr & | object, |
const PointCloud::ConstPtr & | scene, | ||
tf::TransformListener * | listener | ||
) |
get the recognized object and create a filtered PointCloud
Definition at line 23 of file gripper_points_publisher.cpp.
void GripperPointsPublisher::sendGripperPoints | ( | PointCloud | Gripper, |
PointCloud | scene | ||
) |
publish the gripper points
Definition at line 12 of file gripper_points_publisher.cpp.
Definition at line 28 of file gripper_points_publisher.h.
Definition at line 29 of file gripper_points_publisher.h.