#include <model_server.h>

Public Member Functions
	ModelServer ()
void	spin ()
	~ModelServer ()
Private Member Functions
bool	gazeboDeleteModel (std::string const &name)
bool	gazeboSpawnModel (std::string const &serialized_model, geometry_msgs::Pose const &initial_pose)
bool	loadObject (icr_msgs::LoadObject::Request &req, icr_msgs::LoadObject::Response &res)
	Spawns the given urdf model as "icr_object" in gazebo, if such an object already exists it is deleted. Also, the urdf file is pushed onto the parameter server.
bool	loadURDF (std::string const &path, std::string &serialized_model)
bool	loadWavefrontObj (std::string const &path, pcl::PointCloud< pcl::PointNormal > &cloud, std::vector< std::vector< unsigned int > > &neighbors)
Private Attributes
ros::ServiceClient	gazebo_delete_clt_
ros::ServiceClient	gazebo_get_wp_clt_
ros::ServiceClient	gazebo_pause_clt_
ros::ServiceClient	gazebo_spawn_clt_
ros::ServiceClient	gazebo_unpause_clt_
ros::ServiceServer	load_obj_srv_
boost::mutex	lock_
std::string	model_dir_
ros::NodeHandle	nh_
ros::NodeHandle	nh_private_
icr_msgs::Object::Ptr	obj_
std::string	obj_frame_id_
bool	obj_loaded_
std::string	obj_name_
boost::shared_ptr < PoseBroadcaster >	pose_brc_
std::string	pose_source_
double	scale_
std::vector< boost::shared_ptr < ros::ServiceClient > >	set_obj_clts_

Detailed Description

Definition at line 35 of file model_server.h.

Constructor & Destructor Documentation

ICR::ModelServer::ModelServer ( )

Definition at line 17 of file model_server.cpp.

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

Definition at line 40 of file model_server.h.

Member Function Documentation

bool ICR::ModelServer::gazeboDeleteModel ( std::string const & name ) [private]

Definition at line 237 of file model_server.cpp.

bool ICR::ModelServer::gazeboSpawnModel	(	std::string const &	serialized_model,
		geometry_msgs::Pose const &	initial_pose
	)		`[private]`

Definition at line 212 of file model_server.cpp.

bool ICR::ModelServer::loadObject	(	icr_msgs::LoadObject::Request &	req,
		icr_msgs::LoadObject::Response &	res
	)		`[private]`

Spawns the given urdf model as "icr_object" in gazebo, if such an object already exists it is deleted. Also, the urdf file is pushed onto the parameter server.

Definition at line 73 of file model_server.cpp.

bool ICR::ModelServer::loadURDF	(	std::string const &	path,
		std::string &	serialized_model
	)		`[private]`

Definition at line 175 of file model_server.cpp.

bool ICR::ModelServer::loadWavefrontObj	(	std::string const &	path,
		pcl::PointCloud< pcl::PointNormal > &	cloud,
		std::vector< std::vector< unsigned int > > &	neighbors
	)		`[private]`