CalibrationExecutive.cpp File Reference

#include <sensor_msgs/PointCloud2.h>
#include <geometry_msgs/Transform.h>
#include <tf/tf.h>
#include <tf_conversions/tf_eigen.h>
#include <pcl/ros/conversions.h>
#include <pcl_ros/point_cloud.h>
#include <pcl_ros/transforms.h>
#include <ethercat_trigger_controllers/SetWaveform.h>
#include <actionlib/client/simple_action_client.h>
#include <pr2_controllers_msgs/PointHeadAction.h>
#include <pcl/registration/transformation_estimation_svd.h>

Include dependency graph for CalibrationExecutive.cpp:

Go to the source code of this file.

Defines
#define	transformEigenToTF   TransformEigenToTF
#define	transformTFToEigen   TransformTFToEigen
Typedefs
typedef actionlib::SimpleActionClient < pr2_controllers_msgs::PointHeadAction >	PointHeadClient
Functions
void	find_correspondance (tf::Vector3 &led_k, tf::Vector3 &led_tf)
void	getCloud (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud, std::string frame_id, ros::Time after, ros::Time *tm)
tf::Stamped< tf::Pose >	getPose (const char target_frame[], const char lookup_frame[], ros::Time tm=ros::Time(0))
void	init ()
tf::Vector3	locate_led ()
void	lookAt (std::string frame_id, double x, double y, double z)
int	main (int argc, char **argv)
Variables
ros::ServiceClient	client
std::vector< double >	field
std::string	led_frame_ = "r_gripper_led_frame"
tf::TransformListener *	listener_ = 0L
std::string	mount_frame_ = "head_mount_link"
PointHeadClient *	point_head_client_
std::string	rgb_optical_frame_ = "head_mount_kinect_ir_link"
std::string	rgb_topic_ = "/head_mount_kinect/depth_registered/points"
ethercat_trigger_controllers::SetWaveform	waveform

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Define Documentation

#define transformEigenToTF   TransformEigenToTF

Definition at line 21 of file CalibrationExecutive.cpp.

#define transformTFToEigen   TransformTFToEigen

Definition at line 20 of file CalibrationExecutive.cpp.

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Typedef Documentation

typedef actionlib::SimpleActionClient<pr2_controllers_msgs::PointHeadAction> PointHeadClient

Definition at line 31 of file CalibrationExecutive.cpp.

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Function Documentation

void find_correspondance	(	tf::Vector3 &	led_k,
		tf::Vector3 &	led_tf
	)

Definition at line 251 of file CalibrationExecutive.cpp.

void getCloud	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	cloud,
		std::string	frame_id,
		ros::Time	after,
		ros::Time *	tm
	)

Definition at line 84 of file CalibrationExecutive.cpp.

tf::Stamped<tf::Pose> getPose	(	const char	target_frame[],
		const char	lookup_frame[],
		ros::Time	tm = ros::Time(0)
	)

Definition at line 41 of file CalibrationExecutive.cpp.

void init

(

)

Definition at line 35 of file CalibrationExecutive.cpp.

tf::Vector3 locate_led

(

)

Definition at line 156 of file CalibrationExecutive.cpp.

void lookAt	(	std::string	frame_id,
		double	x,
		double	y,
		double	z
	)

Definition at line 121 of file CalibrationExecutive.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 264 of file CalibrationExecutive.cpp.

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Variable Documentation

ros::ServiceClient client

Definition at line 151 of file CalibrationExecutive.cpp.

std::vector<double> field

Definition at line 154 of file CalibrationExecutive.cpp.

std::string led_frame_ = "r_gripper_led_frame"

Definition at line 27 of file CalibrationExecutive.cpp.

tf::TransformListener* listener_ = 0L

Definition at line 29 of file CalibrationExecutive.cpp.

std::string mount_frame_ = "head_mount_link"

Definition at line 24 of file CalibrationExecutive.cpp.

PointHeadClient* point_head_client_

Definition at line 33 of file CalibrationExecutive.cpp.

std::string rgb_optical_frame_ = "head_mount_kinect_ir_link"

Definition at line 25 of file CalibrationExecutive.cpp.

std::string rgb_topic_ = "/head_mount_kinect/depth_registered/points"

Definition at line 26 of file CalibrationExecutive.cpp.

ethercat_trigger_controllers::SetWaveform waveform

Definition at line 152 of file CalibrationExecutive.cpp.