snapit.h
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00001 // -*- mode: C++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2013, JSK Lab
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/o2r other materials provided
00017  *     with the distribution.
00018  *   * Neither the name of the JSK Lab nor the names of its
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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 
00036 #ifndef JSK_PCL_ROS_SNAPIT_H_
00037 #define JSK_PCL_ROS_SNAPIT_H_
00038 
00039 #include <ros/ros.h>
00040 
00041 #include <pcl/point_types.h>
00042 #include <pcl_ros/pcl_nodelet.h>
00043 #include <jsk_recognition_msgs/PolygonArray.h>
00044 #include <geometry_msgs/PolygonStamped.h>
00045 #include <geometry_msgs/PoseArray.h>
00046 #include <jsk_recognition_msgs/ModelCoefficientsArray.h>
00047 #include "jsk_pcl_ros/CallSnapIt.h"
00048 #include <tf/transform_listener.h>
00049 #include <jsk_topic_tools/diagnostic_nodelet.h>
00050 #include "jsk_pcl_ros/geo_util.h"
00051 #include <message_filters/subscriber.h>
00052 #include <message_filters/time_synchronizer.h>
00053 #include <message_filters/synchronizer.h>
00054 #include <jsk_pcl_ros/SnapFootstep.h>
00055 #include "jsk_pcl_ros/tf_listener_singleton.h"
00056 namespace jsk_pcl_ros
00057 {
00058   class SnapIt: public jsk_topic_tools::DiagnosticNodelet
00059   {
00060   public:
00061     typedef message_filters::sync_policies::ExactTime<
00062       jsk_recognition_msgs::PolygonArray,
00063       jsk_recognition_msgs::ModelCoefficientsArray> SyncPolygonPolicy;
00064     SnapIt(): DiagnosticNodelet("SnapIt") {}
00065     
00066   protected:
00068     // methods
00070     virtual void onInit();
00071     virtual void subscribe();
00072     virtual void unsubscribe();
00073     virtual void polygonCallback(
00074       const jsk_recognition_msgs::PolygonArray::ConstPtr& polygon_msg,
00075       const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients_msg);
00076     virtual void polygonAlignCallback(
00077       const geometry_msgs::PoseStamped::ConstPtr& pose_msg);
00078     virtual void convexAlignCallback(
00079       const geometry_msgs::PoseStamped::ConstPtr& pose_msg);
00080     virtual void convexAlignPolygonCallback(
00081       const geometry_msgs::PolygonStamped::ConstPtr& poly_msg);
00082     virtual std::vector<ConvexPolygon::Ptr> createConvexes(
00083       const std::string& frame_id, const ros::Time& stamp,
00084       jsk_recognition_msgs::PolygonArray::ConstPtr polygons);
00085     virtual int findNearestConvex(
00086       const Eigen::Vector3f& pose_point, 
00087       const std::vector<ConvexPolygon::Ptr>& convexes);
00088     virtual geometry_msgs::PoseStamped alignPose(
00089       Eigen::Affine3f& pose, ConvexPolygon::Ptr convex);
00090     virtual bool footstepAlignServiceCallback(
00091       jsk_pcl_ros::SnapFootstep::Request& req,
00092       jsk_pcl_ros::SnapFootstep::Response& res);
00094     // ROS variables
00096     tf::TransformListener* tf_listener_;
00097     message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> sub_polygons_;
00098     message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> sub_coefficients_;
00099     boost::shared_ptr<message_filters::Synchronizer<SyncPolygonPolicy> >sync_polygon_;
00100     ros::Publisher polygon_aligned_pub_;
00101     ros::Publisher convex_aligned_pub_;
00102     ros::Publisher convex_aligned_pose_array_pub_;
00103     ros::Publisher convex_aligned_pose_array_marker_pub_;
00104     ros::Subscriber polygon_align_sub_;
00105     ros::Subscriber convex_align_sub_;
00106     ros::Subscriber convex_align_polygon_sub_;
00107     bool use_service_;
00108     ros::ServiceServer align_footstep_srv_;
00109     jsk_recognition_msgs::PolygonArray::ConstPtr polygons_;
00110     boost::mutex mutex_;
00112     // parameters
00114     
00115   };
00116 }
00117 
00118 #endif 


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Wed Sep 16 2015 04:36:48