#include <icr_server.h>

Public Member Functions
void	computeIcr ()
void	computeSearchZones ()
int	getComputationMode ()
	IcrServer ()
void	publish ()
	~IcrServer ()
Private Member Functions
bool	cloudFromContactRegion (unsigned int region_id, pcl::PointCloud< pcl::PointXYZRGBNormal > &cloud, std::vector< unsigned int > &point_ids)
bool	cpFromGraspMsg (icr_msgs::Grasp const &c_pts, const std::string &name, Eigen::Vector3d &contact_position, bool &touching) const
uint	findObjectPointId (Eigen::Vector3d *point_in) const
void	getActivePhalangeParameters (FParamList &phl_param)
void	getFingerParameters (std::string const &name, FingerParameters &f_param)
bool	getIcr (icr_msgs::GetContactRegions::Request &req, icr_msgs::GetContactRegions::Response &res)
unsigned int	getPhalangeId (std::string const &name)
void	graspCallback (icr_msgs::Grasp const &grasp)
void	initPtGrasp ()
bool	saveIcr (icr_msgs::SaveIcr::Request &req, icr_msgs::SaveIcr::Response &res)
bool	setActivePhalanges (icr_msgs::SetActivePhalanges::Request &req, icr_msgs::SetActivePhalanges::Response &res)
bool	setObject (icr_msgs::SetObject::Request &req, icr_msgs::SetObject::Response &res)
bool	setPhalangeParameters (icr_msgs::SetPhalangeParameters::Request &req, icr_msgs::SetPhalangeParameters::Response &res)
bool	setSphericalQuality (icr_msgs::SetSphericalQuality::Request &req, icr_msgs::SetSphericalQuality::Response &res)
bool	toggleMode (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
bool	triggerIcrCmp (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
bool	triggerSearchZonesCmp (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
Private Attributes
std::vector< std::string >	active_phalanges_
int	computation_mode_
ros::ServiceServer	compute_icr_srv_
ros::ServiceServer	compute_sz_srv_
ros::Subscriber	ct_pts_sub_
ros::ServiceServer	get_icr_srv_
bool	gws_computed_
IndependentContactRegionsPtr	icr_
ros::Publisher	icr_cloud_pub_
bool	icr_computed_
std::string	icr_database_dir_
icr_msgs::ContactRegions::Ptr	icr_msg_
ros::Publisher	icr_pub_
boost::mutex	lock_
ros::NodeHandle	nh_
ros::NodeHandle	nh_private_
TargetObjectPtr	obj_
std::string	obj_frame_id_
bool	obj_set_
tf::Transform	palm_pose_
XmlRpc::XmlRpcValue	phalange_config_
GraspPtr	pt_grasp_
bool	pt_grasp_initialized_
double	qs_
ros::ServiceServer	save_icr_srv_
ros::ServiceServer	set_active_phl_srv_
ros::ServiceServer	set_obj_srv_
ros::ServiceServer	set_phl_param_srv_
ros::ServiceServer	set_qs_srv_
SearchZonesPtr	sz_
bool	sz_computed_
ros::ServiceServer	toggle_mode_srv_

Detailed Description

Definition at line 53 of file icr_server.h.

Constructor & Destructor Documentation

IcrServer::IcrServer ( )

Definition at line 12 of file icr_server.cpp.

ICR::IcrServer::~IcrServer ( ) [inline]

Definition at line 58 of file icr_server.h.

Member Function Documentation

bool IcrServer::cloudFromContactRegion	(	unsigned int	region_id,
		pcl::PointCloud< pcl::PointXYZRGBNormal > &	cloud,
		std::vector< unsigned int > &	point_ids
	)		`[private]`

Definition at line 186 of file icr_server.cpp.

void IcrServer::computeIcr ( )

Definition at line 106 of file icr_server.cpp.

void IcrServer::computeSearchZones ( )

Definition at line 79 of file icr_server.cpp.

bool IcrServer::cpFromGraspMsg	(	icr_msgs::Grasp const &	c_pts,
		const std::string &	name,
		Eigen::Vector3d &	contact_position,
		bool &	touching
	)		const `[private]`