Public Member Functions
void	calc_featurevectors (int roll, int tilt)
void	calc_intimage (int roll, int tilt)
	CCalc_Grasppoints (string name)
void	generate_grid (int roll, int tilt, pcl::PointCloud< pcl::PointXYZ > pcl_cloud_in)
void	gp_to_marker (visualization_msgs::Marker *marker, float x, float y, float z, float green, bool pubmarker, int gripperwidth, int nr_roll, bool pub_grip_open_dir, bool pub_grid)
void	grasp_area_to_marker (visualization_msgs::Marker *marker, float x, float y, float z, int gripperwidth, int nr_roll, int param_id, bool top_grasp)
void	loop_control (pcl::PointCloud< pcl::PointXYZ > pcl_cloud_in)
void	pnt_in_box (int nr_roll, int nr_tilt)
void	predict_bestgp_withsvm (bool svm_with_probability=false)
void	print_heights (int nr_roll, int nr_tilt)
void	publish_grasp_grid (int nr_roll, int tilt, float graspsgrid[][WIDTH], int gripperwidth)
void	publish_transformed_pcl_cloud (int roll, int tilt, pcl::PointCloud< pcl::PointXYZ > pcl_cloud_in)
void	read_pc_cb (const haf_grasping::CalcGraspPointsServerGoalConstPtr &goal)
void	show_predicted_gps (int nr_roll, int tilt, bool svm_with_probability=false)
void	transform_gp_in_wcs_and_publish (int id_row_top_all, int id_col_top_all, int nr_roll_top_all, int nr_tilt_top_all, int scaled_gp_eval)
Public Attributes
geometry_msgs::Vector3	approach_vector
Eigen::Matrix4f	av_trans_mat
string	base_frame_id
ros::Subscriber	box_position_sub
float	boxrot_angle_init
string	feature_file_path
haf_grasping::GraspOutput	gp_result
int	grasp_search_area_size_x_dir
int	grasp_search_area_size_y_dir
geometry_msgs::Point	graspsearchcenter
int	graspval_max_diff_for_pub
int	graspval_th
int	graspval_top
int	gripper_opening_width
float	heightsgridroll [ROLL_MAX_DEGREE/ROLL_STEPS_DEGREE][TILT_STEPS][HEIGHT][WIDTH]
int	id_col_top_overall
int	id_row_top_overall
float	integralimageroll [ROLL_MAX_DEGREE/ROLL_STEPS_DEGREE][TILT_STEPS][HEIGHT+1][WIDTH+1]
int	marker_cnt
float	max_duration_for_grasp_calc
int	nr_features_without_shaf
int	nr_roll_top_overall
int	nr_tilt_top_overall
string	outputpath_full
ros::Subscriber	pc_sub
bool	point_inside_box_grid [ROLL_MAX_DEGREE/ROLL_STEPS_DEGREE][TILT_STEPS][HEIGHT][WIDTH]
bool	print_heights_bool
ros::Publisher	pubGraspPoints
ros::Publisher	pubGraspPointsEval
ros::Publisher	pubInputPCROS
ros::Publisher	pubTransformedPCROS
tf::Quaternion	quat_tf_to_tf_help
string	range_file_path
bool	return_only_best_gp
string	svmmodel_file_path
tf::TransformListener	tf_listener
int	topval_gp_overall
float	trans_z_after_pc_transform
ros::Publisher	vis_pub
ros::Publisher	vis_pub_ma
ros::Publisher	vis_pub_ma_params
bool	visualization
Protected Attributes
std::string	action_name_
actionlib::SimpleActionServer < haf_grasping::CalcGraspPointsServerAction >	as_
haf_grasping::CalcGraspPointsServerFeedback	feedback_
ros::NodeHandle	nh_
haf_grasping::CalcGraspPointsServerResult	result_

Detailed Description

Definition at line 104 of file calc_grasppoints_action_server.cpp.

Constructor & Destructor Documentation

CCalc_Grasppoints::CCalc_Grasppoints ( string name ) [inline]

Definition at line 178 of file calc_grasppoints_action_server.cpp.

Member Function Documentation

void CCalc_Grasppoints::calc_featurevectors	(	int	roll,
		int	tilt
	)

Definition at line 613 of file calc_grasppoints_action_server.cpp.

void CCalc_Grasppoints::calc_intimage	(	int	roll,
		int	tilt
	)

Definition at line 574 of file calc_grasppoints_action_server.cpp.

void CCalc_Grasppoints::generate_grid	(	int	roll,
		int	tilt,
		pcl::PointCloud< pcl::PointXYZ >	pcl_cloud_in
	)

Definition at line 403 of file calc_grasppoints_action_server.cpp.

void CCalc_Grasppoints::gp_to_marker	(	visualization_msgs::Marker *	marker,
		float	x,
		float	y,
		float	z,
		float	green,
		bool	pubmarker,
		int	gripperwidth = `1`,
		int	nr_roll = `0`,
		bool	pub_grip_open_dir = `false`,
		bool	pub_grid = `true`
	)

Definition at line 1017 of file calc_grasppoints_action_server.cpp.

void CCalc_Grasppoints::grasp_area_to_marker	(	visualization_msgs::Marker *	marker,
		float	x,
		float	y,
		float	z,
		int	gripperwidth = `1`,
		int	nr_roll = `0`,
		int	param_id = `1`,
		bool	top_grasp = `false`
	)

!!!!!!!!!!!!!!!!

Definition at line 1142 of file calc_grasppoints_action_server.cpp.

void CCalc_Grasppoints::loop_control ( pcl::PointCloud< pcl::PointXYZ > pcl_cloud_in )

Definition at line 332 of file calc_grasppoints_action_server.cpp.

void CCalc_Grasppoints::pnt_in_box	(	int	nr_roll,
		int	nr_tilt
	)

Definition at line 663 of file calc_grasppoints_action_server.cpp.

void CCalc_Grasppoints::predict_bestgp_withsvm ( bool svm_with_probability = false )

Definition at line 751 of file calc_grasppoints_action_server.cpp.

void CCalc_Grasppoints::print_heights	(	int	nr_roll,
		int	nr_tilt
	)

Definition at line 231 of file calc_grasppoints_action_server.cpp.

void CCalc_Grasppoints::publish_grasp_grid	(	int	nr_roll,
		int	tilt,
		float	graspsgrid[][WIDTH],
		int	gripperwidth = `1`
	)

Definition at line 976 of file calc_grasppoints_action_server.cpp.

void CCalc_Grasppoints::publish_transformed_pcl_cloud	(	int	roll,
		int	tilt,
		pcl::PointCloud< pcl::PointXYZ >	pcl_cloud_in
	)

Definition at line 530 of file calc_grasppoints_action_server.cpp.

void CCalc_Grasppoints::read_pc_cb ( const haf_grasping::CalcGraspPointsServerGoalConstPtr & goal )

Definition at line 247 of file calc_grasppoints_action_server.cpp.

void CCalc_Grasppoints::show_predicted_gps	(	int	nr_roll,
		int	tilt,
		bool	svm_with_probability = `false`
	)

Definition at line 800 of file calc_grasppoints_action_server.cpp.

void CCalc_Grasppoints::transform_gp_in_wcs_and_publish	(	int	id_row_top_all,
		int	id_col_top_all,
		int	nr_roll_top_all,
		int	nr_tilt_top_all,
		int	scaled_gp_eval
	)