Public Member Functions
bool	attachObject (std::string arm_name, sensor_msgs::PointCloud2 object_in_hand, std::string &collision_name)
	Add the object's bounding box to the collision map and attach it to the gripper.
bool	callSegmentObjectInHand (std::string arm_name, sensor_msgs::PointCloud2 &object_in_hand)
	Call the segment_object_in_hand_srv service.
void	executeCB (const pr2_create_object_model::ModelObjectInHandGoalConstPtr &goal)
	Model object in hand action callback.
	InHandObjectModeler (std::string name)
bool	moveArmAway (std::string arm_name, geometry_msgs::Vector3Stamped clear_move)
	Move the arm to get it away from stuff.
bool	moveArmIntoView (std::string arm_name, sensor_msgs::PointCloud2 object_in_hand, geometry_msgs::PoseStamped desired_pose)
	Move the arm to a fixed position in front of the head (keep old orientation)
void	pointHead (std::string arm_name)
	Point the head at what's in the gripper.
bool	rotateObject (std::string arm_name, sensor_msgs::PointCloud2 &object_in_hand)
	Rotate the last arm joint, not trying to keep the object level.
bool	turnArmInwards (std::string arm_name, sensor_msgs::PointCloud2 &object_in_hand)
	Turn the gripper so it's facing towards the robot, keeping the gripper level.
Private Attributes
tabletop_collision_map_processing::CollisionMapInterface	collision_map_interface_
	Collision interface for adding the object to the collision map, if requested.
object_manipulator::MechanismInterface	mech_interface_
	Mechanism interface for moving the arms/head.
actionlib::SimpleActionServer < pr2_create_object_model::ModelObjectInHandAction >	model_object_action_server_
	Action server for the model_object_in_hand_action.
pr2_create_object_model::ModelObjectInHandFeedback	model_object_feedback_
pr2_create_object_model::ModelObjectInHandResult	model_object_result_
	Result and feedback for the action.
ros::NodeHandle	priv_nh_
	Node handle in the private namespace.
ros::Publisher	pub_cloud
	Publisher for the current object in hand point cloud.
ros::Publisher	pub_pc2
ros::NodeHandle	root_nh_
	Node handle in the root namespace.
std::string	segment_object_service_name_
	Name of the segment_object_in_hand service.
bool	stereo_
	Which stereo camera we're using (true = narrow_stereo, false = kinect)

Detailed Description

Definition at line 53 of file create_object_model_server.cpp.

Constructor & Destructor Documentation

InHandObjectModeler::InHandObjectModeler ( std::string name ) [inline]

Definition at line 89 of file create_object_model_server.cpp.

Member Function Documentation

bool InHandObjectModeler::attachObject	(	std::string	arm_name,
		sensor_msgs::PointCloud2	object_in_hand,
		std::string &	collision_name
	)		`[inline]`

Add the object's bounding box to the collision map and attach it to the gripper.

Definition at line 207 of file create_object_model_server.cpp.

bool InHandObjectModeler::callSegmentObjectInHand	(	std::string	arm_name,
		sensor_msgs::PointCloud2 &	object_in_hand
	)		`[inline]`

Call the segment_object_in_hand_srv service.

Definition at line 258 of file create_object_model_server.cpp.

void InHandObjectModeler::executeCB ( const pr2_create_object_model::ModelObjectInHandGoalConstPtr & goal ) [inline]

Model object in hand action callback.

Definition at line 113 of file create_object_model_server.cpp.

bool InHandObjectModeler::moveArmAway	(	std::string	arm_name,
		geometry_msgs::Vector3Stamped	clear_move
	)		`[inline]`

Move the arm to get it away from stuff.

Definition at line 517 of file create_object_model_server.cpp.

bool InHandObjectModeler::moveArmIntoView	(	std::string	arm_name,
		sensor_msgs::PointCloud2	object_in_hand,
		geometry_msgs::PoseStamped	desired_pose
	)		`[inline]`