FindBasePoseAction Class Reference

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

List of all members.

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 (float dx, float dy, float dz=0, 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 (std::vector< btVector3 > pts, float colr=0, float colg=1, float colb=0, float si_=0.325)
void	pubBaseMarkerArrow (tf::Pose pose, float colr=0, float colg=1, float colb=0)
void	pubBaseMarkerArrow (geometry_msgs::PoseStamped 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)
void	pubBaseMarkerBlob (tf::Pose pose, 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

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Detailed Description

end: exlude unknown and occupied space from map

Definition at line 245 of file find_base_pose.cpp.

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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.

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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	(	float	dx,
		float	dy,
		float	dz = 0,
		float	colr = 0,
		float	colg = 1,
		float	colb = 0,
		float	si_ = 0.325
	)		[inline]

Definition at line 425 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	(	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::pubBaseMarkerArrow	(	tf::Pose	pose,
		float	colr = 0,
		float	colg = 1,
		float	colb = 0
	)		[inline]

Definition at line 371 of file find_base_pose.cpp.

void FindBasePoseAction::pubBaseMarkerArrow	(	geometry_msgs::PoseStamped	pose,
		float	colr = 0,
		float	colg = 1,
		float	colb = 0
	)		[inline]

Definition at line 398 of file find_base_pose.cpp.

void FindBasePoseAction::pubBaseMarkerBlob	(	float	dx,
		float	dy,
		float	dz,
		float	colr = 0,
		float	colg = 1,
		float	colb = 0
	)		[inline]

Definition at line 317 of file find_base_pose.cpp.

void FindBasePoseAction::pubBaseMarkerBlob	(	tf::Pose	pose,
		float	colr = 0,
		float	colg = 1,
		float	colb = 0
	)		[inline]

Definition at line 344 of file find_base_pose.cpp.

tf::Pose FindBasePoseAction::rotateAroundPose	(	tf::Pose	toolPose,
		tf::Pose	pivot,
		btQuaternion	qa
	)		[inline]

Definition at line 798 of file find_base_pose.cpp.

bool FindBasePoseAction::run_ik	(	int	side_,
		geometry_msgs::PoseStamped	pose,
		double	start_angles[7],
		double	solution[7]
	)		[inline]

TODO: generally we should be able to interface ik on a lower level

Definition at line 821 of file find_base_pose.cpp.

void FindBasePoseAction::scanCallback

(

const sensor_msgs::LaserScan::ConstPtr &

scan_in

)

[inline]

Definition at line 619 of file find_base_pose.cpp.

tf::Stamped<tf::Pose> FindBasePoseAction::tool2wrist

(

tf::Stamped< tf::Pose >

toolPose

)

[inline]

Definition at line 739 of file find_base_pose.cpp.

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Member Data Documentation

std::string FindBasePoseAction::action_name_ [protected]

Definition at line 251 of file find_base_pose.cpp.

actionlib::SimpleActionServer<find_base_pose::FindBasePoseAction> FindBasePoseAction::as_ [protected]

Definition at line 250 of file find_base_pose.cpp.

btVector3 FindBasePoseAction::bbox[2][2] [protected]

Definition at line 269 of file find_base_pose.cpp.

find_base_pose::FindBasePoseFeedback FindBasePoseAction::feedback_ [protected]

Definition at line 253 of file find_base_pose.cpp.

ros::ServiceClient FindBasePoseAction::ik_client[2] [protected]

Definition at line 256 of file find_base_pose.cpp.

tf::TransformListener* FindBasePoseAction::listener_ [protected]

Definition at line 255 of file find_base_pose.cpp.

int FindBasePoseAction::markerCnt [protected]

Definition at line 273 of file find_base_pose.cpp.

ros::NodeHandle FindBasePoseAction::nh_ [protected]

Definition at line 249 of file find_base_pose.cpp.

size_t FindBasePoseAction::numScanPoints [protected]

Definition at line 266 of file find_base_pose.cpp.

laser_geometry::LaserProjection* FindBasePoseAction::projector_ [protected]

Definition at line 260 of file find_base_pose.cpp.

find_base_pose::FindBasePoseResult FindBasePoseAction::result_ [protected]

Definition at line 254 of file find_base_pose.cpp.

boost::mutex FindBasePoseAction::scan_mutex [protected]

Definition at line 261 of file find_base_pose.cpp.

btVector3 FindBasePoseAction::scanPoints[5000] [protected]

Definition at line 264 of file find_base_pose.cpp.

ros::Subscriber FindBasePoseAction::subScan_ [protected]

We need laser scans for avoiding obstacles.

Definition at line 259 of file find_base_pose.cpp.

ros::Publisher FindBasePoseAction::vis_pub [protected]

Definition at line 271 of file find_base_pose.cpp.

bool FindBasePoseAction::weHaveScan [protected]

Definition at line 262 of file find_base_pose.cpp.

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

• find_base_pose.cpp