Repeatedly search for antipodal grasps in point clouds. More...

#include <grasp_localizer.h>

Classes
struct	Parameters
	Parameters for hand search and handle search. More...
Public Member Functions
	GraspLocalizer (ros::NodeHandle &node, const std::string &cloud_topic, const std::string &cloud_frame, int cloud_type, const std::string &svm_file_name, const Parameters &params)
	Constructor.
void	localizeGrasps ()
	Repeatedly localize grasps in the input point cloud.
	~GraspLocalizer ()
	Destructor.
Private Member Functions
void	cloud_callback (const sensor_msgs::PointCloud2ConstPtr &msg)
	Callback function for the ROS topic that contains the input point cloud.
void	cloud_sized_callback (const agile_grasp::CloudSized &msg)
	Callback function for the ROS topic that contains the input point cloud.
agile_grasp::Grasp	createGraspMsg (const Handle &handle)
	Create a grasp message from a handle.
agile_grasp::Grasp	createGraspMsg (const GraspHypothesis &hand)
	Create a grasp message from a grasp hypothesis.
agile_grasp::Grasps	createGraspsMsg (const std::vector< Handle > &handles)
	Create a grasps message from a list of handles. The message consists of the "average" handle grasps.
agile_grasp::Grasps	createGraspsMsg (const std::vector< GraspHypothesis > &hands)
	Create a grasp message from a list of grasp hypotheses.
agile_grasp::Grasps	createGraspsMsgFromHands (const std::vector< Handle > &handles)
	Create a grasps message from a list of handles. The message consists of all the grasps contained in the handles.
Private Attributes
std::vector< GraspHypothesis >	antipodal_hands_
	the antipodal grasps predicted by the SVM
std::string	cloud_frame_
	the coordinate frame of the point cloud
PointCloud::Ptr	cloud_left_
PointCloud::Ptr	cloud_right_
	the point clouds
ros::Subscriber	cloud_sub_
	the subscriber for the point cloud topic
ros::Publisher	grasps_pub_
	the publisher for the antipodal grasps
std::vector< Handle >	handles_
	the handles found by the handle search
std::vector< GraspHypothesis >	hands_
	the grasp hypotheses found by the hand search
Localization *	localization_
	a pointer to a localization object
int	min_inliers_
	the minimum number of inliers for the handle search
int	num_clouds_
	the maximum number of point clouds that can be received
int	num_clouds_received_
	the number of point clouds that have been received
int	size_left_
	the size of the first point cloud
std::string	svm_file_name_
	the location and filename of the SVM
Static Private Attributes
static const int	CLOUD_SIZED = 1
	agile_grasp/CloudSized
static const int	POINT_CLOUD_2 = 0
	sensor_msgs/PointCloud2

Detailed Description

Repeatedly search for antipodal grasps in point clouds.

GraspLocalizer class

This class is a ROS node that repeatedly takes a point cloud from a given ROS topic as input, searches for antipodal grasps in that cloud, and publishes the results on a ROS topic. Incoming point cloud messages can be of two different types: (1) standard sensor_msgs/PointCloud2, (2) agile_grasp/CloudSized messages. The second type is for two point clouds send in the same message (see msg/CloudSized.msg or rosmsg agile_grasp/CloudSized).

Definition at line 69 of file grasp_localizer.h.

Constructor & Destructor Documentation

GraspLocalizer::GraspLocalizer	(	ros::NodeHandle &	node,
		const std::string &	cloud_topic,
		const std::string &	cloud_frame,
		int	cloud_type,
		const std::string &	svm_file_name,
		const Parameters &	params
	)

Constructor.

Parameters:

node	the ROS node
cloud_topic	the ROS topic that contains the input point cloud
cloud_frame	the coordinate frame of the point cloud
cloud_type	the type of the point cloud message (see constants for input point cloud types)
svm_file_name	the location and filename of the SVM
params	a set of parameters for hand search and handle search

Definition at line 4 of file grasp_localizer.cpp.

GraspLocalizer::~GraspLocalizer ( ) [inline]

Destructor.

Definition at line 117 of file grasp_localizer.h.

Member Function Documentation

void GraspLocalizer::cloud_callback ( const sensor_msgs::PointCloud2ConstPtr & msg ) [private]

Callback function for the ROS topic that contains the input point cloud.

Parameters:

msg	the incoming ROS message (of type sensor_msgs/PointCloud2)

Definition at line 40 of file grasp_localizer.cpp.

void GraspLocalizer::cloud_sized_callback ( const agile_grasp::CloudSized & msg ) [private]

Callback function for the ROS topic that contains the input point cloud.

Parameters:

msg	the incoming ROS message (of type agile_grasp/CloudSized)

Definition at line 63 of file grasp_localizer.cpp.

agile_grasp::Grasp GraspLocalizer::createGraspMsg ( const Handle & handle ) [private]

Create a grasp message from a handle.

Parameters:

handles the handle from which the grasp message is created

Definition at line 179 of file grasp_localizer.cpp.

agile_grasp::Grasp GraspLocalizer::createGraspMsg ( const GraspHypothesis & hand ) [private]

Create a grasp message from a grasp hypothesis.

Parameters:

hand	the grasp hypothesis from which the grasp message is created

Definition at line 137 of file grasp_localizer.cpp.

agile_grasp::Grasps GraspLocalizer::createGraspsMsg ( const std::vector< Handle > & handles ) [private]

Create a grasps message from a list of handles. The message consists of the "average" handle grasps.

Parameters:

handles the set of handles from which the grasps message is created

Definition at line 168 of file grasp_localizer.cpp.

agile_grasp::Grasps GraspLocalizer::createGraspsMsg ( const std::vector< GraspHypothesis > & hands ) [private]

Create a grasp message from a list of grasp hypotheses.

Parameters:

hands the set of grasp hypotheses from which the grasps message is created

Definition at line 123 of file grasp_localizer.cpp.

agile_grasp::Grasps GraspLocalizer::createGraspsMsgFromHands ( const std::vector< Handle > & handles ) [private]

Create a grasps message from a list of handles. The message consists of all the grasps contained in the handles.

Parameters:

handles the set of handles from which the grasps message is created

Definition at line 149 of file grasp_localizer.cpp.

void GraspLocalizer::localizeGrasps ( )

Repeatedly localize grasps in the input point cloud.

Definition at line 80 of file grasp_localizer.cpp.

Member Data Documentation

std::vector<GraspHypothesis> GraspLocalizer::antipodal_hands_ [private]

the antipodal grasps predicted by the SVM

Definition at line 177 of file grasp_localizer.h.

std::string GraspLocalizer::cloud_frame_ [private]

the coordinate frame of the point cloud

Definition at line 171 of file grasp_localizer.h.

PointCloud::Ptr GraspLocalizer::cloud_left_ [private]

Definition at line 172 of file grasp_localizer.h.

PointCloud::Ptr GraspLocalizer::cloud_right_ [private]

the point clouds

Definition at line 172 of file grasp_localizer.h.

const int GraspLocalizer::CLOUD_SIZED = 1 [static, private]

agile_grasp/CloudSized

Definition at line 186 of file grasp_localizer.h.

ros::Subscriber GraspLocalizer::cloud_sub_ [private]

the subscriber for the point cloud topic

Definition at line 173 of file grasp_localizer.h.

ros::Publisher GraspLocalizer::grasps_pub_ [private]

the publisher for the antipodal grasps

Definition at line 174 of file grasp_localizer.h.

std::vector<Handle> GraspLocalizer::handles_ [private]

the handles found by the handle search

Definition at line 178 of file grasp_localizer.h.

std::vector<GraspHypothesis> GraspLocalizer::hands_ [private]

the grasp hypotheses found by the hand search

Definition at line 176 of file grasp_localizer.h.

Localization* GraspLocalizer::localization_ [private]

a pointer to a localization object

Definition at line 175 of file grasp_localizer.h.

int GraspLocalizer::min_inliers_ [private]

the minimum number of inliers for the handle search

Definition at line 182 of file grasp_localizer.h.

int GraspLocalizer::num_clouds_ [private]

the maximum number of point clouds that can be received

Definition at line 180 of file grasp_localizer.h.

int GraspLocalizer::num_clouds_received_ [private]

the number of point clouds that have been received

Definition at line 179 of file grasp_localizer.h.

const int GraspLocalizer::POINT_CLOUD_2 = 0 [static, private]

sensor_msgs/PointCloud2

constants for input point cloud types

Definition at line 185 of file grasp_localizer.h.

int GraspLocalizer::size_left_ [private]

the size of the first point cloud

Definition at line 181 of file grasp_localizer.h.

std::string GraspLocalizer::svm_file_name_ [private]

the location and filename of the SVM

Definition at line 170 of file grasp_localizer.h.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation