#include <ros/ros.h>
#include <eigen_conversions/eigen_msg.h>
#include <tf/tf.h>
#include <actionlib/server/simple_action_server.h>
#include <find_base_pose/FindBasePoseAction.h>
#include <tf/transform_listener.h>
#include <kinematics_msgs/GetPositionIK.h>
#include <kinematics_msgs/GetPositionFK.h>
#include <pr2_arm_kinematics/pr2_arm_kinematics.h>
#include <pr2_arm_kinematics/pr2_arm_ik.h>
#include <pr2_arm_kinematics/pr2_arm_kinematics_utils.h>
#include <pr2_arm_kinematics/pr2_arm_ik_solver.h>
#include <pr2_arm_kinematics/pr2_arm_kinematics_plugin.h>
#include <kinematics_base/kinematics_base.h>
#include <urdf/model.h>
#include <algorithm>
#include <laser_geometry/laser_geometry.h>
#include <visualization_msgs/Marker.h>
#include <nav_msgs/OccupancyGrid.h>
Go to the source code of this file.
Classes | |
class | FindBasePoseAction |
end: exlude unknown and occupied space from map More... | |
Functions | |
int | main (int argc, char **argv) |
void | mapCallback (const nav_msgs::OccupancyGrid &msg) |
bool | mapFreeCoarse (tf::Stamped< tf::Pose > absPose) |
bool | mapFreeCoarseCircumscribed (tf::Stamped< tf::Pose > absPose) |
bool | mapFreeFine (tf::Stamped< tf::Pose > absPose) |
void | mapToWorld (unsigned int mx, unsigned int my, double &wx, double &wy) |
bool | worldToMap (double wx, double wy, unsigned int &mx, unsigned int &my) |
void | worldToMapNoBounds (double wx, double wy, int &mx, int &my) |
Variables | |
nav_msgs::OccupancyGrid | coarsemap |
pr2_arm_kinematics::PR2ArmIK * | ik_r |
pr2_arm_kinematics::PR2ArmKinematics * | kinemal |
pr2_arm_kinematics::PR2ArmKinematics * | kinemar |
nav_msgs::OccupancyGrid | map |
nav_msgs::OccupancyGrid | map_circumscribed |
nav_msgs::OccupancyGrid | map_inscribed |
bool | map_processed = false |
ros::Publisher | occ_pub |
float | origin_x_ = 0 |
float | origin_y_ = 0 |
float | resolution_ = 0 |
int | size_x_ = 0 |
int | size_y_ = 0 |
pr2_arm_kinematics::PR2ArmIKSolver * | solver |
bool | we_have_a_map = false |
exlude unknown and occupied space from map |
int main | ( | int | argc, |
char ** | argv | ||
) |
Definition at line 1344 of file find_base_pose.cpp.
void mapCallback | ( | const nav_msgs::OccupancyGrid & | msg | ) |
Definition at line 102 of file find_base_pose.cpp.
bool mapFreeCoarse | ( | tf::Stamped< tf::Pose > | absPose | ) |
Definition at line 192 of file find_base_pose.cpp.
bool mapFreeCoarseCircumscribed | ( | tf::Stamped< tf::Pose > | absPose | ) |
Definition at line 208 of file find_base_pose.cpp.
bool mapFreeFine | ( | tf::Stamped< tf::Pose > | absPose | ) |
Definition at line 224 of file find_base_pose.cpp.
void mapToWorld | ( | unsigned int | mx, |
unsigned int | my, | ||
double & | wx, | ||
double & | wy | ||
) |
Definition at line 74 of file find_base_pose.cpp.
bool worldToMap | ( | double | wx, |
double | wy, | ||
unsigned int & | mx, | ||
unsigned int & | my | ||
) |
Definition at line 80 of file find_base_pose.cpp.
void worldToMapNoBounds | ( | double | wx, |
double | wy, | ||
int & | mx, | ||
int & | my | ||
) |
Definition at line 94 of file find_base_pose.cpp.
nav_msgs::OccupancyGrid coarsemap |
Definition at line 65 of file find_base_pose.cpp.
Definition at line 54 of file find_base_pose.cpp.
Definition at line 53 of file find_base_pose.cpp.
Definition at line 53 of file find_base_pose.cpp.
nav_msgs::OccupancyGrid map |
Definition at line 64 of file find_base_pose.cpp.
nav_msgs::OccupancyGrid map_circumscribed |
Definition at line 64 of file find_base_pose.cpp.
nav_msgs::OccupancyGrid map_inscribed |
Definition at line 64 of file find_base_pose.cpp.
bool map_processed = false |
Definition at line 62 of file find_base_pose.cpp.
Definition at line 100 of file find_base_pose.cpp.
float origin_x_ = 0 |
Definition at line 71 of file find_base_pose.cpp.
float origin_y_ = 0 |
Definition at line 72 of file find_base_pose.cpp.
float resolution_ = 0 |
Definition at line 67 of file find_base_pose.cpp.
int size_x_ = 0 |
Definition at line 68 of file find_base_pose.cpp.
int size_y_ = 0 |
Definition at line 69 of file find_base_pose.cpp.
Definition at line 55 of file find_base_pose.cpp.
bool we_have_a_map = false |
exlude unknown and occupied space from map
Definition at line 61 of file find_base_pose.cpp.