Provides the collision map related services needed by object grasping. More...

#include <collision_map_interface.h>

Public Member Functions
	CollisionMapInterface ()
	Connects and waits for all needed services and action servers.
bool	connectionsEstablished (ros::Duration timeout)
	Waits until all needed services and action servers are available, then connects all appropriate services.
bool	extendBoundingBoxZToTable (const tabletop_object_detector::Table &table, geometry_msgs::PoseStamped &pose_stamped, geometry_msgs::Vector3 &dimensions)
	Extends a bounding box along its Z dimension until it touches the table.
void	getClusterBoundingBox (const sensor_msgs::PointCloud &cluster, geometry_msgs::PoseStamped &pose_stamped, geometry_msgs::Vector3 &dimensions)
	Computes the outlier-resistant bounding box for a cluster (PointCloud), z-axis fixed.
void	getClusterBoundingBox (const sensor_msgs::PointCloud2 &cluster, geometry_msgs::PoseStamped &pose_stamped, geometry_msgs::Vector3 &dimensions)
	Computes the outlier-resistant bounding box for a cluster (PointCloud2), z-axis fixed.
void	getClusterBoundingBox3D (const sensor_msgs::PointCloud &cluster, geometry_msgs::PoseStamped &pose_stamped, geometry_msgs::Vector3 &dimensions)
	Computes the outlier-resistant bounding box for a cluster (PointCloud)
void	getClusterBoundingBox3D (const sensor_msgs::PointCloud2 &cluster, geometry_msgs::PoseStamped &pose_stamped, geometry_msgs::Vector3 &dimensions)
	Computes the outlier-resistant bounding box for a cluster (PointCloud2)
void	processCollisionGeometryForBoundingBox (const object_manipulation_msgs::ClusterBoundingBox &box, std::string &collision_name)
	Sends collision geometry for a bounding box into the collision map.
void	processCollisionGeometryForCluster (const sensor_msgs::PointCloud &cluster, std::string &collision_name, float collision_size=-1.0)
	Sends collision geometry for a point cloud into the collision map.
void	processCollisionGeometryForObject (const household_objects_database_msgs::DatabaseModelPose &model_pose, std::string &collision_name)
	Sends collision geometry for object into the collision map.
void	processCollisionGeometryForObjectAsBoundingBox (const household_objects_database_msgs::DatabaseModelPose &model_pose, std::string &collision_name)
	Sends collision geometry for bounding box of object vertices into the collision map.
void	processCollisionGeometryForTable (const tabletop_object_detector::Table &table, std::string table_collision_name)
	Sends table info into the collision map.
void	removeCollisionModel (std::string collision_name)
	Removes the given collision model from the collision environment.
void	resetAttachedModels ()
	Removes all the models attached to the robot in the collision map.
void	resetCollisionId (int id=0)
void	resetCollisionModels ()
	Removes all collision models from the map.
Private Member Functions
bool	connectionsPresent ()
	Returns true if all needed services and action servers are available.
void	connectServices ()
	Connects all the services that it uses to their appropriate service names.
bool	getMeshFromDatabasePose (const household_objects_database_msgs::DatabaseModelPose &model_pose, arm_navigation_msgs::Shape &mesh)
	Produces an object mesh from a database object.
std::string	getNextObjectName ()
	Creates a name for an object based on collision_object_current_id_, which is then incremented.
Private Attributes
ros::Publisher	attached_object_pub_
	Publisher for attached objects.
ros::ServiceClient	cluster_bounding_box2_3d_client_
ros::ServiceClient	cluster_bounding_box2_client_
ros::ServiceClient	cluster_bounding_box_3d_client_
ros::ServiceClient	cluster_bounding_box_client_
	Client for computing the outlier-resistant bounding box of a cluster.
int	collision_box_size_
	Default box size for points when adding a point cloud collision object.
int	collision_object_current_id_
	Counts the number of objects added to the map since the last reset.
ros::Publisher	collision_object_pub_
	Publisher for objects in map.
bool	connections_established_
	Flag that shows if all the needed service and action servers have been found.
ros::ServiceClient	get_model_mesh_srv_
	Client for getting the mesh for a database object.
int	point_skip_num_
	Only keep every point_skip_num_ points when adding a point cloud collision object.
ros::NodeHandle	priv_nh_
	The private node handle.
ros::NodeHandle	root_nh_
	The root node handle.
double	table_thickness_
	Thickness of the table when added to the collision environment.

Detailed Description

Provides the collision map related services needed by object grasping.

Definition at line 67 of file collision_map_interface.h.

Constructor & Destructor Documentation

tabletop_collision_map_processing::CollisionMapInterface::CollisionMapInterface ( )

Connects and waits for all needed services and action servers.

Definition at line 60 of file collision_map_interface.cpp.

Member Function Documentation

bool tabletop_collision_map_processing::CollisionMapInterface::connectionsEstablished ( ros::Duration timeout )

Waits until all needed services and action servers are available, then connects all appropriate services.

Will wait at most timeout for the connections, then return false if the connections are not present. If all connections are found, future calls no longer check them and return true immediately.

Definition at line 92 of file collision_map_interface.cpp.

bool tabletop_collision_map_processing::CollisionMapInterface::connectionsPresent ( ) [private]

Returns true if all needed services and action servers are available.

Definition at line 85 of file collision_map_interface.cpp.

void tabletop_collision_map_processing::CollisionMapInterface::connectServices ( ) [private]

Connects all the services that it uses to their appropriate service names.

Definition at line 70 of file collision_map_interface.cpp.

bool tabletop_collision_map_processing::CollisionMapInterface::extendBoundingBoxZToTable	(	const tabletop_object_detector::Table &	table,
		geometry_msgs::PoseStamped &	pose_stamped,
		geometry_msgs::Vector3 &	dimensions
	)

Extends a bounding box along its Z dimension until it touches the table.

Assumes the bounding box is in the same frame as the table

Definition at line 473 of file collision_map_interface.cpp.

void tabletop_collision_map_processing::CollisionMapInterface::getClusterBoundingBox	(	const sensor_msgs::PointCloud &	cluster,
		geometry_msgs::PoseStamped &	pose_stamped,
		geometry_msgs::Vector3 &	dimensions
	)

Computes the outlier-resistant bounding box for a cluster (PointCloud), z-axis fixed.

Definition at line 391 of file collision_map_interface.cpp.

void tabletop_collision_map_processing::CollisionMapInterface::getClusterBoundingBox	(	const sensor_msgs::PointCloud2 &	cluster,
		geometry_msgs::PoseStamped &	pose_stamped,
		geometry_msgs::Vector3 &	dimensions
	)

Computes the outlier-resistant bounding box for a cluster (PointCloud2), z-axis fixed.

void tabletop_collision_map_processing::CollisionMapInterface::getClusterBoundingBox3D	(	const sensor_msgs::PointCloud &	cluster,
		geometry_msgs::PoseStamped &	pose_stamped,
		geometry_msgs::Vector3 &	dimensions
	)

Computes the outlier-resistant bounding box for a cluster (PointCloud)

Definition at line 431 of file collision_map_interface.cpp.

void tabletop_collision_map_processing::CollisionMapInterface::getClusterBoundingBox3D	(	const sensor_msgs::PointCloud2 &	cluster,
		geometry_msgs::PoseStamped &	pose_stamped,
		geometry_msgs::Vector3 &	dimensions
	)

Computes the outlier-resistant bounding box for a cluster (PointCloud2)

bool tabletop_collision_map_processing::CollisionMapInterface::getMeshFromDatabasePose	(	const household_objects_database_msgs::DatabaseModelPose &	model_pose,
		arm_navigation_msgs::Shape &	mesh
	)		`[private]`

Produces an object mesh from a database object.

Definition at line 354 of file collision_map_interface.cpp.

std::string tabletop_collision_map_processing::CollisionMapInterface::getNextObjectName ( ) [private]

Creates a name for an object based on collision_object_current_id_, which is then incremented.

Definition at line 146 of file collision_map_interface.cpp.

void tabletop_collision_map_processing::CollisionMapInterface::processCollisionGeometryForBoundingBox	(	const object_manipulation_msgs::ClusterBoundingBox &	box,
		std::string &	collision_name
	)

Sends collision geometry for a bounding box into the collision map.

Definition at line 286 of file collision_map_interface.cpp.

void tabletop_collision_map_processing::CollisionMapInterface::processCollisionGeometryForCluster	(	const sensor_msgs::PointCloud &	cluster,
		std::string &	collision_name,
		float	collision_size = `-1.0`
	)

Sends collision geometry for a point cloud into the collision map.

Definition at line 313 of file collision_map_interface.cpp.

void tabletop_collision_map_processing::CollisionMapInterface::processCollisionGeometryForObject	(	const household_objects_database_msgs::DatabaseModelPose &	model_pose,
		std::string &	collision_name
	)

Sends collision geometry for object into the collision map.

Definition at line 210 of file collision_map_interface.cpp.

void tabletop_collision_map_processing::CollisionMapInterface::processCollisionGeometryForObjectAsBoundingBox	(	const household_objects_database_msgs::DatabaseModelPose &	model_pose,
		std::string &	collision_name
	)

Sends collision geometry for bounding box of object vertices into the collision map.

Definition at line 233 of file collision_map_interface.cpp.

void tabletop_collision_map_processing::CollisionMapInterface::processCollisionGeometryForTable	(	const tabletop_object_detector::Table &	table,
		std::string	table_collision_name
	)