MetricTrainer.h
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00001 
00013 #ifndef RAIL_PICK_AND_PLACE_METRIC_TRAINER_H_
00014 #define RAIL_PICK_AND_PLACE_METRIC_TRAINER_H_
00015 
00016 // ROS
00017 #include <actionlib/client/simple_action_client.h>
00018 #include <actionlib/server/simple_action_server.h>
00019 #include <graspdb/graspdb.h>
00020 #include <rail_pick_and_place_msgs/GetYesNoFeedbackAction.h>
00021 #include <rail_pick_and_place_msgs/TrainMetricsAction.h>
00022 #include <ros/ros.h>
00023 
00024 namespace rail
00025 {
00026 namespace pick_and_place
00027 {
00028 
00036 class MetricTrainer
00037 {
00038 public:
00044   MetricTrainer();
00045 
00051   virtual ~MetricTrainer();
00052 
00060   bool okay() const;
00061 
00062 private:
00072   void trainMetricsCallback(const rail_pick_and_place_msgs::TrainMetricsGoalConstPtr &goal);
00073 
00075   bool okay_;
00077   graspdb::Client *graspdb_;
00078 
00080   ros::NodeHandle node_, private_node_;
00082   ros::Publisher base_pc_pub_, aligned_pc_pub_;
00084   actionlib::SimpleActionServer<rail_pick_and_place_msgs::TrainMetricsAction> as_;
00086   actionlib::SimpleActionClient<rail_pick_and_place_msgs::GetYesNoFeedbackAction> get_yes_and_no_feedback_ac_;
00087 };
00088 
00089 }
00090 }
00091 
00092 #endif


rail_recognition
Author(s): David Kent , Russell Toris , bhetherman
autogenerated on Thu Jun 6 2019 19:44:08