A grasp demonstration database entry. More...

#include <GraspDemonstration.h>

Inheritance diagram for rail::pick_and_place::graspdb::GraspDemonstration:

Public Member Functions
const std::string &	getEefFrameID () const
	End effector frame ID value accessor.
const Pose &	getGraspPose () const
	Grasp pose value accessor (immutable).
Pose &	getGraspPose ()
	Grasp pose value accessor.
const sensor_msgs::Image &	getImage () const
	Image accessor (immutable).
sensor_msgs::Image &	getImage ()
	Image accessor.
const std::string &	getObjectName () const
	Object name value accessor.
const sensor_msgs::PointCloud2 &	getPointCloud () const
	Point cloud accessor (immutable).
sensor_msgs::PointCloud2 &	getPointCloud ()
	Point cloud accessor.
	GraspDemonstration (const uint32_t id=Entity::UNSET_ID, const std::string &object_name="", const Pose &grasp_pose=Pose(), const std::string &eef_frame_id="", const sensor_msgs::PointCloud2 &point_cloud=sensor_msgs::PointCloud2(), const sensor_msgs::Image &image=sensor_msgs::Image(), const time_t created=Entity::UNSET_TIME)
	Create a new GraspDemonstration.
	GraspDemonstration (const std::string &object_name, const Pose &grasp_pose, const std::string &eef_frame_id, const sensor_msgs::PointCloud2 &point_cloud, const sensor_msgs::Image &image)
	Create a new GraspDemonstration.
	GraspDemonstration (const rail_pick_and_place_msgs::GraspDemonstration &gd)
	Create a new GraspDemonstration.
void	setEefFrameID (const std::string &eef_frame_id)
	End effector frame ID value mutator.
void	setGraspPose (const Pose &grasp_pose)
	Grasp pose value mutator.
void	setImage (const sensor_msgs::Image &image)
	Image mutator.
void	setObjectName (const std::string &object_name)
	Object name value mutator.
void	setPointCloud (const sensor_msgs::PointCloud2 &point_cloud)
	Point cloud mutator.
rail_pick_and_place_msgs::GraspDemonstration	toROSGraspDemonstrationMessage () const
Private Attributes
std::string	eef_frame_id_
Pose	grasp_pose_
sensor_msgs::Image	image_
std::string	object_name_
sensor_msgs::PointCloud2	point_cloud_

Detailed Description

A grasp demonstration database entry.

A grasp demonstration contains information about a single grasp demonstration in the grasp database. This contains information about the grasp pose, end effector frame identifier, object name, and serialized segmented point cloud. A valid database entity has an ID and created timestamp. This class is useful for internal data management within the graspdb library. Convenience functions are added for use with ROS messages.

Definition at line 45 of file GraspDemonstration.h.

Constructor & Destructor Documentation

rail::pick_and_place::graspdb::GraspDemonstration::GraspDemonstration	(	const uint32_t	id = `Entity::UNSET_ID`,
		const std::string &	object_name = `""`,
		const Pose &	grasp_pose = `Pose()`,
		const std::string &	eef_frame_id = `""`,
		const sensor_msgs::PointCloud2 &	point_cloud = `sensor_msgs::PointCloud2()`,
		const sensor_msgs::Image &	image = `sensor_msgs::Image()`,
		const time_t	created = `Entity::UNSET_TIME`
	)

Create a new GraspDemonstration.

Creates a new GraspDemonstration with the given values. This constructor assumes a valid ID and timestamp are known.

Parameters:

id	The unique ID of the database entry (defaults to 0).
object_name	The name of the object grasped (defaults to the empty string).
grasp_pose	The pose of the grasp (defaults to an empty Pose).
eef_frame_id	The frame identifier for the end effector used (defaults to the empty string).
point_cloud	The ROS sensor_msgs/PointCloud2 message of the segmented object (defaults to empty values).
image	The ROS sensor_msgs/Image message of the segmented object (defaults to empty values).
created	The created timestamp (defaults to 0).

rail::pick_and_place::graspdb::GraspDemonstration::GraspDemonstration	(	const std::string &	object_name,
		const Pose &	grasp_pose,
		const std::string &	eef_frame_id,
		const sensor_msgs::PointCloud2 &	point_cloud,
		const sensor_msgs::Image &	image
	)

Create a new GraspDemonstration.

Creates a new GraspDemonstration with the given values. This constructor assumes no valid ID and timestamp are known (e.g., for use when inserting into the database).

Parameters:

object_name	The name of the object grasped.
grasp_pose	The pose of the grasp.
eef_frame_id	The frame identifier for the end effector used.
point_cloud	The ROS sensor_msgs/PointCloud2 message of the segmented object.
image	The ROS sensor_msgs/Image message of the segmented object.

GraspDemonstration::GraspDemonstration ( const rail_pick_and_place_msgs::GraspDemonstration & gd )

Create a new GraspDemonstration.

Creates a new GraspDemonstration with the given values the ROS message.

Parameters:

gd	The ROS grasp demonstration message to extract values from.

Definition at line 36 of file GraspDemonstration.cpp.

Member Function Documentation

const string & GraspDemonstration::getEefFrameID ( ) const

End effector frame ID value accessor.

Get the end effector frame ID value of this GraspDemonstration.

Returns:: The end effector frame ID value.

Definition at line 68 of file GraspDemonstration.cpp.

const Pose & GraspDemonstration::getGraspPose ( ) const

Grasp pose value accessor (immutable).

Get the grasp pose value of this GraspDemonstration.

Returns:: The grasp pose value.

Definition at line 53 of file GraspDemonstration.cpp.

Pose & GraspDemonstration::getGraspPose ( )

Grasp pose value accessor.

Get the grasp pose value of this GraspDemonstration.

Returns:: The grasp pose value.

Definition at line 58 of file GraspDemonstration.cpp.

const sensor_msgs::Image & GraspDemonstration::getImage ( ) const

Image accessor (immutable).

Get the image message.

Returns:: The image message.

Definition at line 93 of file GraspDemonstration.cpp.

sensor_msgs::Image & GraspDemonstration::getImage ( )

Image accessor.

Get the image message.

Returns:: The image message.

Definition at line 98 of file GraspDemonstration.cpp.

const string & GraspDemonstration::getObjectName ( ) const

Object name value accessor.

Get the object name value of this GraspDemonstration.

Returns:: The object name value.

Definition at line 43 of file GraspDemonstration.cpp.

const sensor_msgs::PointCloud2 & GraspDemonstration::getPointCloud ( ) const

Point cloud accessor (immutable).

Get the point cloud message.

Returns:: The point cloud message.

Definition at line 78 of file GraspDemonstration.cpp.

sensor_msgs::PointCloud2 & GraspDemonstration::getPointCloud ( )

Point cloud accessor.

Get the point cloud message.

Returns:: The point cloud message.

Definition at line 83 of file GraspDemonstration.cpp.

void GraspDemonstration::setEefFrameID ( const std::string & eef_frame_id )

End effector frame ID value mutator.

Set the end effector frame ID value of this GraspDemonstration.

Parameters:

eef_frame_id The new object name value.

Definition at line 73 of file GraspDemonstration.cpp.

void GraspDemonstration::setGraspPose ( const Pose & grasp_pose )

Grasp pose value mutator.

Set the grasp pose value of this GraspDemonstration.

Parameters:

grasp_pose The new grasp pose value.

Definition at line 63 of file GraspDemonstration.cpp.

void GraspDemonstration::setImage ( const sensor_msgs::Image & image )

Image mutator.

Set the image message to the given values based on the ROS message.

Parameters:

image The ROS Image message to store.

Definition at line 103 of file GraspDemonstration.cpp.

void GraspDemonstration::setObjectName ( const std::string & object_name )

Object name value mutator.

Set the object name value of this GraspDemonstration.

Parameters:

object_name The new object name value.

Definition at line 48 of file GraspDemonstration.cpp.

void GraspDemonstration::setPointCloud ( const sensor_msgs::PointCloud2 & point_cloud )

Point cloud mutator.

Set the point cloud message to the given values based on the ROS message.

Parameters:

point_cloud The ROS PointCloud2 message to store.

Definition at line 88 of file GraspDemonstration.cpp.

rail_pick_and_place_msgs::GraspDemonstration GraspDemonstration::toROSGraspDemonstrationMessage ( ) const

Converts this GraspDemonstration object into a ROS GraspDemonstration message.

Returns:: The ROS GraspDemonstration message with this grasp demonstration data.

Definition at line 108 of file GraspDemonstration.cpp.

Member Data Documentation

std::string rail::pick_and_place::graspdb::GraspDemonstration::eef_frame_id_ [private]

Definition at line 217 of file GraspDemonstration.h.

Pose rail::pick_and_place::graspdb::GraspDemonstration::grasp_pose_ [private]

The grasp pose data.

Definition at line 219 of file GraspDemonstration.h.

sensor_msgs::Image rail::pick_and_place::graspdb::GraspDemonstration::image_ [private]

The RGB image data.

Definition at line 223 of file GraspDemonstration.h.

std::string rail::pick_and_place::graspdb::GraspDemonstration::object_name_ [private]

The name of the object and end effector frame identifier for this demonstration entry.

Definition at line 217 of file GraspDemonstration.h.

sensor_msgs::PointCloud2 rail::pick_and_place::graspdb::GraspDemonstration::point_cloud_ [private]

The point cloud data.

Definition at line 221 of file GraspDemonstration.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation