#include <ros/ros.h>#include <ros/package.h>#include <std_msgs/Header.h>#include <std_msgs/String.h>#include <geometry_msgs/PointStamped.h>#include <geometry_msgs/QuaternionStamped.h>#include <geometry_msgs/TwistStamped.h>#include <geometry_msgs/Pose2D.h>#include <geometry_msgs/Point.h>#include <sensor_msgs/Image.h>#include <sensor_msgs/PointCloud2.h>#include <sensor_msgs/CameraInfo.h>#include <sensor_msgs/image_encodings.h>#include <message_filters/subscriber.h>#include <message_filters/time_synchronizer.h>#include <message_filters/synchronizer.h>#include <message_filters/sync_policies/approximate_time.h>#include <image_transport/image_transport.h>#include <cv_bridge/cv_bridge.h>#include <tf/transform_listener.h>#include <tf/transform_datatypes.h>#include <pcl/point_cloud.h>#include <pcl/point_types.h>#include <pcl_ros/transforms.h>#include <boost/shared_ptr.hpp>#include <opencv2/core/core.hpp>#include <opencv2/imgproc/imgproc.hpp>#include <opencv2/highgui/highgui.hpp>#include <vector>#include <deque>#include <queue>#include <string>#include <sstream>#include <iostream>#include <fstream>#include <utility>#include <stdexcept>#include <float.h>#include <math.h>#include <time.h>#include <cstdlib>#include <pr2_controllers_msgs/Pr2GripperCommandAction.h>#include <pr2_gripper_sensor_msgs/PR2GripperGrabAction.h>#include <pr2_gripper_sensor_msgs/PR2GripperEventDetectorAction.h>#include <pr2_gripper_sensor_msgs/PR2GripperReleaseAction.h>#include <actionlib/client/simple_action_client.h>#include <visual_servo/VisualServoTwist.h>#include <visual_servo/VisualServoPose.h>#include <std_srvs/Empty.h>#include "visual_servo.cpp"#include <tabletop_pushing/point_cloud_segmentation.h>Go to the source code of this file.
Classes | |
| class | GripperTape |
| class | VisualServoNode |
Defines | |
| #define | DEBUG_MODE 0 |
| #define | DESCEND 12 |
| #define | DESCEND_INIT 11 |
| #define | DISPLAY 1 |
| #define | FINISH 14 |
| #define | fmod(a, b) a - (float)((int)(a/b)*b) |
| #define | GRAB 9 |
| #define | INIT 0 |
| #define | INIT_DESIRED 4 |
| #define | INIT_HAND 3 |
| #define | INIT_OBJS 2 |
| #define | PERCEPTION PERCEPTION_POINT_CLOUD |
| #define | PERCEPTION_COLOR_SEGMENTATION 0 |
| #define | PERCEPTION_POINT_CLOUD 1 |
| #define | POSE_CONTR 5 |
| #define | POSE_CONTR_2 6 |
| #define | RELEASE 13 |
| #define | RELOCATE 10 |
| #define | SETTLE 1 |
| #define | TERM 15 |
| #define | VISUAL_SERVO_TYPE 0 |
| #define | VS_CONTR_1 7 |
| #define | VS_CONTR_2 8 |
Typedefs | |
| typedef actionlib::SimpleActionClient < pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction > | EventDetectorClient |
| typedef actionlib::SimpleActionClient < pr2_gripper_sensor_msgs::PR2GripperGrabAction > | GrabClient |
| typedef actionlib::SimpleActionClient < pr2_controllers_msgs::Pr2GripperCommandAction > | GripperClient |
| typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::PointCloud2 > | MySyncPolicy |
| typedef actionlib::SimpleActionClient < pr2_gripper_sensor_msgs::PR2GripperReleaseAction > | ReleaseClient |
| typedef pcl::PointCloud < pcl::PointXYZ > | XYZPointCloud |
Functions | |
| int | main (int argc, char **argv) |
| #define DEBUG_MODE 0 |
Definition at line 105 of file vs_grasp.cpp.
| #define DESCEND 12 |
Definition at line 126 of file vs_grasp.cpp.
| #define DESCEND_INIT 11 |
Definition at line 125 of file vs_grasp.cpp.
| #define DISPLAY 1 |
| #define FINISH 14 |
Definition at line 128 of file vs_grasp.cpp.
| #define GRAB 9 |
Definition at line 123 of file vs_grasp.cpp.
| #define INIT 0 |
Definition at line 114 of file vs_grasp.cpp.
| #define INIT_DESIRED 4 |
Definition at line 118 of file vs_grasp.cpp.
| #define INIT_HAND 3 |
Definition at line 117 of file vs_grasp.cpp.
| #define INIT_OBJS 2 |
Definition at line 116 of file vs_grasp.cpp.
| #define PERCEPTION PERCEPTION_POINT_CLOUD |
Definition at line 110 of file vs_grasp.cpp.
| #define PERCEPTION_COLOR_SEGMENTATION 0 |
Definition at line 108 of file vs_grasp.cpp.
| #define PERCEPTION_POINT_CLOUD 1 |
Definition at line 109 of file vs_grasp.cpp.
| #define POSE_CONTR 5 |
Definition at line 119 of file vs_grasp.cpp.
| #define POSE_CONTR_2 6 |
Definition at line 120 of file vs_grasp.cpp.
| #define RELEASE 13 |
Definition at line 127 of file vs_grasp.cpp.
| #define RELOCATE 10 |
Definition at line 124 of file vs_grasp.cpp.
| #define SETTLE 1 |
Definition at line 115 of file vs_grasp.cpp.
| #define TERM 15 |
Definition at line 129 of file vs_grasp.cpp.
| #define VISUAL_SERVO_TYPE 0 |
Definition at line 106 of file vs_grasp.cpp.
| #define VS_CONTR_1 7 |
Definition at line 121 of file vs_grasp.cpp.
| #define VS_CONTR_2 8 |
Definition at line 122 of file vs_grasp.cpp.
| typedef actionlib::SimpleActionClient<pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction> EventDetectorClient |
Definition at line 138 of file vs_grasp.cpp.
| typedef actionlib::SimpleActionClient<pr2_gripper_sensor_msgs::PR2GripperGrabAction> GrabClient |
Definition at line 137 of file vs_grasp.cpp.
Definition at line 140 of file vs_grasp.cpp.
| typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image,sensor_msgs::PointCloud2> MySyncPolicy |
Definition at line 134 of file vs_grasp.cpp.
| typedef actionlib::SimpleActionClient<pr2_gripper_sensor_msgs::PR2GripperReleaseAction> ReleaseClient |
Definition at line 139 of file vs_grasp.cpp.
| typedef pcl::PointCloud<pcl::PointXYZ> XYZPointCloud |
Definition at line 135 of file vs_grasp.cpp.
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Definition at line 1589 of file vs_grasp.cpp.