#include <object.h>

Inheritance diagram for srs_interaction_primitives::Object:

Public Member Functions
void	addPreGraspPosition (int pos_id, geometry_msgs::Pose pose)
	Sets specified pre-grasp position.
void	addPregraspPositions ()
	Adds grasping positions.
geometry_msgs::Point	getBoundingBoxLWH ()
std::string	getResource ()
	Gets the resource file with primitive's model (and material).
arm_navigation_msgs::Shape	getShape ()
	Gets shape of the mesh.
bool	getUseMaterial ()
	Gets usage of defined material or color.
void	insert ()
void	menuCallback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
	Object (InteractiveMarkerServerPtr server, std::string frame_id, std::string name)
void	objectCallback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	removePreGraspPosition (int pos_id)
	Removes specified pre-grasp position.
void	removePregraspPositions ()
	Removes grasping positions.
virtual void	setAllowObjectInteraction (bool allow)
	Allows or denies interaction with Object.
void	setAllowPregrasp (bool allow_pregrasp)
void	setBoundingBoxLWH (geometry_msgs::Point bounding_box_lwh)
void	setPoseLWH (geometry_msgs::Pose pose, geometry_msgs::Point bounding_box_lwh)
void	setResource (std::string resource)
	Sets resource file with primitive's model (and material).
void	setShape (arm_navigation_msgs::Shape shape)
	Sets shape of the mesh.
void	setUseMaterial (bool use_material)
	Sets usage of defined material or color.
void	updateControls ()
	Updates visible controls.
Private Member Functions
void	create ()
	Create Object.
void	createBoundingBoxControl ()
void	createMenu ()
	Create menu.
void	createMesh ()
Private Attributes
bool	allow_object_interaction_
bool	allow_pregrasp_
geometry_msgs::Point	bounding_box_lwh_
interactive_markers::MenuHandler::EntryHandle	menu_handler_interaction_
interactive_markers::MenuHandler::EntryHandle	menu_handler_interaction_movement_
interactive_markers::MenuHandler::EntryHandle	menu_handler_interaction_rotation_
interactive_markers::MenuHandler::EntryHandle	menu_handler_move_to_pregrasp_
interactive_markers::MenuHandler::EntryHandle	menu_handler_show_pregrasp_
visualization_msgs::Marker	mesh_
bool	move_arm_to_pregrasp_onclick_
ObjectResource	object_resource_
PreGraspPosition	pregrasp1_
visualization_msgs::InteractiveMarkerControl	pregrasp1Control_
PreGraspPosition	pregrasp2_
visualization_msgs::InteractiveMarkerControl	pregrasp2Control_
PreGraspPosition	pregrasp3_
visualization_msgs::InteractiveMarkerControl	pregrasp3Control_
PreGraspPosition	pregrasp4_
visualization_msgs::InteractiveMarkerControl	pregrasp4Control_
PreGraspPosition	pregrasp5_
visualization_msgs::InteractiveMarkerControl	pregrasp5Control_
PreGraspPosition	pregrasp6_
visualization_msgs::InteractiveMarkerControl	pregrasp6Control_
std::string	resource_
arm_navigation_msgs::Shape	shape_
bool	show_pregrasp_control_
bool	translated_
bool	use_material_

Detailed Description

This class represents detected object and it's bounding box.

Object with Bounding Box is designed to be the direct output of the detectors. It shows object's mesh together with it's Bounding Box. It can also show pre-grasp positions and can be translated, rotated or scaled.

Author:: Tomas Lokaj

See also:: http://ros.org/wiki/srs_env_model#Object

Definition at line 78 of file object.h.

Constructor & Destructor Documentation

srs_interaction_primitives::Object::Object	(	InteractiveMarkerServerPtr	server,
		std::string	frame_id,
		std::string	name
	)

Constructor.

Parameters:

server	is Interactive marker server
frame_id	is fixed frame
name	is name of this object

Member Function Documentation

void srs_interaction_primitives::Object::addPreGraspPosition	(	int	pos_id,
		geometry_msgs::Pose	pose
	)

Sets specified pre-grasp position.

Parameters:

pos_num	is specified position number (1-6)
pose	is pre-grasp position and orientation

Definition at line 491 of file object.cpp.

void srs_interaction_primitives::Object::addPregraspPositions ( )

Adds grasping positions.

Definition at line 324 of file object.cpp.

void srs_interaction_primitives::Object::create ( ) [private, virtual]

Create Object.

Reimplemented from srs_interaction_primitives::BoundingBox.

Definition at line 597 of file object.cpp.

void srs_interaction_primitives::Object::createBoundingBoxControl ( ) [private]

Reimplemented from srs_interaction_primitives::BoundingBox.

void srs_interaction_primitives::Object::createMenu ( ) [private, virtual]

Create menu.

Reimplemented from srs_interaction_primitives::BoundingBox.

Definition at line 259 of file object.cpp.

void srs_interaction_primitives::Object::createMesh ( ) [private]

Definition at line 566 of file object.cpp.

geometry_msgs::Point srs_interaction_primitives::Object::getBoundingBoxLWH ( ) [inline]

Gets object's bounding box

Returns:: bounding_box_lwh is bounding box length, width and height

Definition at line 107 of file object.h.

std::string srs_interaction_primitives::Object::getResource ( ) [inline]

Gets the resource file with primitive's model (and material).

Returns:: resource path to the resource file

Definition at line 142 of file object.h.

arm_navigation_msgs::Shape srs_interaction_primitives::Object::getShape ( ) [inline]

Gets shape of the mesh.

Returns:: shape of t he mesh

Definition at line 179 of file object.h.

bool srs_interaction_primitives::Object::getUseMaterial ( ) [inline]

Gets usage of defined material or color.

Returns:: use_material material (true), color (false)

Definition at line 160 of file object.h.

void srs_interaction_primitives::Object::insert ( ) [virtual]

Creates and inserts object into Interactive Marker Server

Reimplemented from srs_interaction_primitives::BoundingBox.

Definition at line 627 of file object.cpp.

void srs_interaction_primitives::Object::menuCallback ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback )

Menu callback

Reimplemented from srs_interaction_primitives::BoundingBox.

Definition at line 107 of file object.cpp.

void srs_interaction_primitives::Object::objectCallback ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback )

Callback

Definition at line 86 of file object.cpp.

void srs_interaction_primitives::Object::removePreGraspPosition ( int pos_id )

Removes specified pre-grasp position.

Parameters:

pos_num is specified position number (1-6)

Definition at line 536 of file object.cpp.

void srs_interaction_primitives::Object::removePregraspPositions ( )

Removes grasping positions.

Definition at line 480 of file object.cpp.

void srs_interaction_primitives::Object::setAllowObjectInteraction ( bool allow ) [virtual]

Allows or denies interaction with Object.

Parameters:

allow is true or false

Definition at line 63 of file object.cpp.

void srs_interaction_primitives::Object::setAllowPregrasp ( bool allow_pregrasp ) [inline]

Allows or disables showing of preg-rasp menu entries

Parameters:

allow_pregrasp True to show pre-grasp menu entries, False otherwise

Definition at line 123 of file object.h.

void srs_interaction_primitives::Object::setBoundingBoxLWH ( geometry_msgs::Point bounding_box_lwh ) [inline]

Sets object's bounding box

Parameters:

bounding_box_lwh is bounding box length, width and height

Definition at line 98 of file object.h.

void srs_interaction_primitives::Object::setPoseLWH	(	geometry_msgs::Pose	pose,
		geometry_msgs::Point	bounding_box_lwh
	)

Sets position orientation of the object and dimension of the bounding box.

Parameters:

pose	is object's position and orientation
bounding_box_lwh	is length, width and height of the bounding box

Definition at line 587 of file object.cpp.

void srs_interaction_primitives::Object::setResource ( std::string resource ) [inline]

Sets resource file with primitive's model (and material).

Parameters:

resource path to the resource file

Definition at line 132 of file object.h.

void srs_interaction_primitives::Object::setShape ( arm_navigation_msgs::Shape shape ) [inline]

Sets shape of the mesh.

Parameters:

shape is shape

Definition at line 169 of file object.h.

void srs_interaction_primitives::Object::setUseMaterial ( bool use_material ) [inline]

Sets usage of defined material or color.

Parameters:

use_material material (true), color (false)

Definition at line 151 of file object.h.

void srs_interaction_primitives::Object::updateControls ( )

Updates visible controls.

Reimplemented from srs_interaction_primitives::Primitive.

Definition at line 526 of file object.cpp.

Member Data Documentation

bool srs_interaction_primitives::Object::allow_object_interaction_ [private]

Definition at line 241 of file object.h.

bool srs_interaction_primitives::Object::allow_pregrasp_ [private]

Definition at line 241 of file object.h.

geometry_msgs::Point srs_interaction_primitives::Object::bounding_box_lwh_ [private]

Definition at line 243 of file object.h.

interactive_markers::MenuHandler::EntryHandle srs_interaction_primitives::Object::menu_handler_interaction_ [private]

Definition at line 254 of file object.h.

interactive_markers::MenuHandler::EntryHandle srs_interaction_primitives::Object::menu_handler_interaction_movement_ [private]

Definition at line 254 of file object.h.

interactive_markers::MenuHandler::EntryHandle srs_interaction_primitives::Object::menu_handler_interaction_rotation_ [private]

Definition at line 254 of file object.h.

interactive_markers::MenuHandler::EntryHandle srs_interaction_primitives::Object::menu_handler_move_to_pregrasp_ [private]

Definition at line 254 of file object.h.

interactive_markers::MenuHandler::EntryHandle srs_interaction_primitives::Object::menu_handler_show_pregrasp_ [private]

Definition at line 254 of file object.h.

visualization_msgs::Marker srs_interaction_primitives::Object::mesh_ [private]

Definition at line 236 of file object.h.

bool srs_interaction_primitives::Object::move_arm_to_pregrasp_onclick_ [private]

Definition at line 240 of file object.h.

ObjectResource srs_interaction_primitives::Object::object_resource_ [private]

Definition at line 235 of file object.h.

PreGraspPosition srs_interaction_primitives::Object::pregrasp1_ [private]

Definition at line 248 of file object.h.

visualization_msgs::InteractiveMarkerControl srs_interaction_primitives::Object::pregrasp1Control_ [private]