Public Member Functions | Private Member Functions | Private Attributes
tabletop_collision_map_processing::CollisionMapInterface Class Reference

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

#include <collision_map_interface.h>

List of all members.

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 69 of file collision_map_interface.h.


Constructor & Destructor Documentation

Connects and waits for all needed services and action servers.

Definition at line 60 of file collision_map_interface.cpp.


Member Function Documentation

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.

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

Definition at line 85 of file collision_map_interface.cpp.

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 490 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 408 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 448 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 363 of file collision_map_interface.cpp.

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.

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

Definition at line 295 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 322 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 219 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 242 of file collision_map_interface.cpp.

Sends table info into the collision map.

Definition at line 154 of file collision_map_interface.cpp.

Removes the given collision model from the collision environment.

Definition at line 110 of file collision_map_interface.cpp.

Removes all the models attached to the robot in the collision map.

Definition at line 131 of file collision_map_interface.cpp.

Definition at line 160 of file collision_map_interface.h.

Removes all collision models from the map.

Definition at line 120 of file collision_map_interface.cpp.


Member Data Documentation

Publisher for attached objects.

Definition at line 85 of file collision_map_interface.h.

Definition at line 91 of file collision_map_interface.h.

Definition at line 89 of file collision_map_interface.h.

Definition at line 90 of file collision_map_interface.h.

Client for computing the outlier-resistant bounding box of a cluster.

Definition at line 88 of file collision_map_interface.h.

Default box size for points when adding a point cloud collision object.

Definition at line 116 of file collision_map_interface.h.

Counts the number of objects added to the map since the last reset.

Definition at line 97 of file collision_map_interface.h.

Publisher for objects in map.

Definition at line 82 of file collision_map_interface.h.

Flag that shows if all the needed service and action servers have been found.

Definition at line 79 of file collision_map_interface.h.

Client for getting the mesh for a database object.

Definition at line 94 of file collision_map_interface.h.

Only keep every point_skip_num_ points when adding a point cloud collision object.

Definition at line 113 of file collision_map_interface.h.

The private node handle.

Definition at line 76 of file collision_map_interface.h.

The root node handle.

Definition at line 73 of file collision_map_interface.h.

Thickness of the table when added to the collision environment.

Definition at line 119 of file collision_map_interface.h.


The documentation for this class was generated from the following files:


tabletop_collision_map_processing
Author(s): Matei Ciocarlie
autogenerated on Mon Oct 6 2014 11:47:36