m3::RosPressureVisualizer Class Reference

#include <RosPressureVisualizer.h>

List of all members.

Public Member Functions
void	Init ()
	RosPressureVisualizer ()
virtual	~RosPressureVisualizer ()
Protected Member Functions
void	DisplayPressure (const hrl_haptic_manipulation_in_clutter_msgs::TaxelArray::ConstPtr &msg)
visualization_msgs::Marker	GetArrowMarker (tf::Vector3 position, tf::Quaternion orientation, double scale)
void	GetArrowTextMarkers (tf::Vector3 position, tf::Quaternion orientation, double scale, visualization_msgs::Marker *arrow, visualization_msgs::Marker *text, double nx, double ny, double nz)
void	GetLinkName ()
void	GetTaxelTransforms ()
double	norm (double x, double y, double z)
Static Protected Attributes
static const double	DURATION_ARROW = 0.1
static const unsigned	FREQUENCY_DIVISOR = 2
static const double	MIN_PRESSURE_VALUE = 0.2
static const double	SCALE_ARROW_Y = 0.25
static const double	SCALE_ARROW_Z = 0.25
static const double	SCALING_FACTOR = 0.05
static const double	TF_TIME_OFFSET = 0.200
Private Member Functions
void	InitStaticVectors ()
Private Attributes
unsigned	frequency_count
ros::ServiceClient	link_name_client
std::string	linkName
ros::ServiceClient	local_coords_client
ros::NodeHandle	n
ros::Publisher	publisher_marker
ros::Publisher	publisher_marker_array
ros::Publisher	publisher_text_marker
ros::Publisher	publisher_text_marker_array
ros::Subscriber	subscriber
std::vector< tf::Quaternion >	taxels_arrows_quaternions
std::vector< tf::Transform >	taxels_transforms
std::vector< tf::Transform >	taxels_transforms_inv
std::vector < geometry_msgs::Transform >	transforms

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Detailed Description

Definition at line 41 of file RosPressureVisualizer.h.

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Constructor & Destructor Documentation

m3::RosPressureVisualizer::RosPressureVisualizer

(

)

Definition at line 241 of file RosPressureVisualizer.cpp.

m3::RosPressureVisualizer::~RosPressureVisualizer

(

)

[virtual]

Definition at line 245 of file RosPressureVisualizer.cpp.

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Member Function Documentation

void m3::RosPressureVisualizer::DisplayPressure

(

const hrl_haptic_manipulation_in_clutter_msgs::TaxelArray::ConstPtr &

msg

)

[protected]

Publishes a TaxelArray message from the RawTaxelArray message

Parameters:

msg	The RawTaxeArray message to transform

Definition at line 126 of file RosPressureVisualizer.cpp.

visualization_msgs::Marker m3::RosPressureVisualizer::GetArrowMarker	(	tf::Vector3	position,
		tf::Quaternion	orientation,
		double	scale
	)		[protected]

Definition at line 31 of file RosPressureVisualizer.cpp.

void m3::RosPressureVisualizer::GetArrowTextMarkers	(	tf::Vector3	position,
		tf::Quaternion	orientation,
		double	scale,
		visualization_msgs::Marker *	arrow,
		visualization_msgs::Marker *	text,
		double	nx,
		double	ny,
		double	nz
	)		[protected]

Definition at line 60 of file RosPressureVisualizer.cpp.

void m3::RosPressureVisualizer::GetLinkName

(

)

[protected]

Fetches the link name The link name will be stored inside this object.

Definition at line 200 of file RosPressureVisualizer.cpp.

void m3::RosPressureVisualizer::GetTaxelTransforms

(

)

[protected]

Fetches all the taxels tfs from the /skin_patch_forearm_right/taxels/srv/local_coord_frames service The transforms will be stored inside this object.

Definition at line 178 of file RosPressureVisualizer.cpp.

void m3::RosPressureVisualizer::Init

(

void

)

Definition at line 212 of file RosPressureVisualizer.cpp.

void m3::RosPressureVisualizer::InitStaticVectors

(

)

[private]

Initialize the centers and normals vectors

double m3::RosPressureVisualizer::norm	(	double	x,
		double	y,
		double	z
	)		[inline, protected]

Compute the norm

Definition at line 86 of file RosPressureVisualizer.h.

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Member Data Documentation

const double m3::RosPressureVisualizer::DURATION_ARROW = 0.1 [static, protected]

Definition at line 70 of file RosPressureVisualizer.h.

unsigned m3::RosPressureVisualizer::frequency_count [private]

Definition at line 119 of file RosPressureVisualizer.h.

const unsigned m3::RosPressureVisualizer::FREQUENCY_DIVISOR = 2 [static, protected]

Definition at line 75 of file RosPressureVisualizer.h.

ros::ServiceClient m3::RosPressureVisualizer::link_name_client [private]

Definition at line 110 of file RosPressureVisualizer.h.

std::string m3::RosPressureVisualizer::linkName [private]

Definition at line 117 of file RosPressureVisualizer.h.

ros::ServiceClient m3::RosPressureVisualizer::local_coords_client [private]

Definition at line 109 of file RosPressureVisualizer.h.

const double m3::RosPressureVisualizer::MIN_PRESSURE_VALUE = 0.2 [static, protected]

Definition at line 71 of file RosPressureVisualizer.h.

ros::NodeHandle m3::RosPressureVisualizer::n [private]

Definition at line 103 of file RosPressureVisualizer.h.

ros::Publisher m3::RosPressureVisualizer::publisher_marker [private]

Definition at line 106 of file RosPressureVisualizer.h.

ros::Publisher m3::RosPressureVisualizer::publisher_marker_array [private]

Definition at line 107 of file RosPressureVisualizer.h.

ros::Publisher m3::RosPressureVisualizer::publisher_text_marker [private]

Definition at line 104 of file RosPressureVisualizer.h.

ros::Publisher m3::RosPressureVisualizer::publisher_text_marker_array [private]

Definition at line 105 of file RosPressureVisualizer.h.

const double m3::RosPressureVisualizer::SCALE_ARROW_Y = 0.25 [static, protected]

Definition at line 68 of file RosPressureVisualizer.h.

const double m3::RosPressureVisualizer::SCALE_ARROW_Z = 0.25 [static, protected]

Definition at line 69 of file RosPressureVisualizer.h.

const double m3::RosPressureVisualizer::SCALING_FACTOR = 0.05 [static, protected]

Definition at line 72 of file RosPressureVisualizer.h.

ros::Subscriber m3::RosPressureVisualizer::subscriber [private]

Definition at line 108 of file RosPressureVisualizer.h.

std::vector<tf::Quaternion> m3::RosPressureVisualizer::taxels_arrows_quaternions [private]

Definition at line 115 of file RosPressureVisualizer.h.

std::vector<tf::Transform> m3::RosPressureVisualizer::taxels_transforms [private]

Definition at line 113 of file RosPressureVisualizer.h.

std::vector<tf::Transform> m3::RosPressureVisualizer::taxels_transforms_inv [private]

Definition at line 114 of file RosPressureVisualizer.h.

const double m3::RosPressureVisualizer::TF_TIME_OFFSET = 0.200 [static, protected]

Definition at line 80 of file RosPressureVisualizer.h.

std::vector<geometry_msgs::Transform> m3::RosPressureVisualizer::transforms [private]

Definition at line 112 of file RosPressureVisualizer.h.

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

• RosPressureVisualizer.h
• RosPressureVisualizer.cpp