A wrapper around a graspdb GrapsModel with a PCL point cloud. More...

#include <PCLGraspModel.h>

Inheritance diagram for rail::pick_and_place::PCLGraspModel:

Public Member Functions
double	getAverageBlue () const
	Average point cloud blue value accessor.
double	getAverageGreen () const
	Average point cloud green value accessor.
double	getAverageRed () const
	Average point cloud red value accessor.
const pcl::PointCloud < pcl::PointXYZRGB >::Ptr &	getPCLPointCloud () const
	PCL point cloud accessor.
const sensor_msgs::PointCloud2 &	getPointCloud () const
	Disabled point cloud accessor (immutable).
sensor_msgs::PointCloud2 &	getPointCloud ()
	Disabled point cloud accessor.
bool	isOriginal () const
	Original flag accessor.
	PCLGraspModel (const graspdb::GraspModel &grasp_model=graspdb::GraspModel())
	Creates a new PCLGraspModel.
void	setOriginal (const bool original)
	Original flag mutator.
void	setPointCloud (const sensor_msgs::PointCloud2 &point_cloud)
	Point cloud mutator.
graspdb::GraspModel	toGraspModel () const
	Creates a graspdb GraspModel from this PCL grasp model.
Private Attributes
double	avg_b_
double	avg_g_
double	avg_r_
bool	original_
pcl::PointCloud < pcl::PointXYZRGB >::Ptr	pc_

Detailed Description

A wrapper around a graspdb GrapsModel with a PCL point cloud.

The PCLGraspModel is simply a wrapper around the graspdb GrapsModel with a PCL point cloud. A flag can also be set to mark the grasp model as an original (as apposed to newly generated during model generation). All accessors to the ROS point cloud message are disabled.

Definition at line 36 of file PCLGraspModel.h.

Constructor & Destructor Documentation

PCLGraspModel::PCLGraspModel ( const graspdb::GraspModel & grasp_model = graspdb::GraspModel() )

Creates a new PCLGraspModel.

Creates a new ObjectRecognizer from the graspdb grasp model object. The point cloud is converted during construction. The original flag defaults to false.

Parameters:

grasp_model The graspdb GraspModel to create a PCLGraspModel from (defaults to an empty GraspModel).

Definition at line 20 of file PCLGraspModel.cpp.

Member Function Documentation

double PCLGraspModel::getAverageBlue ( ) const

Average point cloud blue value accessor.

Get average point cloud blue value.

Returns:: The average point cloud blue value.

Definition at line 84 of file PCLGraspModel.cpp.

double PCLGraspModel::getAverageGreen ( ) const

Average point cloud green value accessor.

Get average point cloud green value.

Returns:: The average point cloud green value.

Definition at line 79 of file PCLGraspModel.cpp.

double PCLGraspModel::getAverageRed ( ) const

Average point cloud red value accessor.

Get average point cloud red value.

Returns:: The average point cloud red value.

Definition at line 74 of file PCLGraspModel.cpp.

const pcl::PointCloud< pcl::PointXYZRGB >::Ptr & PCLGraspModel::getPCLPointCloud ( ) const

PCL point cloud accessor.

Get the PCL point cloud.

Returns:: The PCL point cloud.

Definition at line 51 of file PCLGraspModel.cpp.

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

Disabled point cloud accessor (immutable).

Unavailable function.

Returns:: Nothing (exception will be thrown).

Exceptions:

std::runtime_error Thrown since this method is not supported.

Reimplemented from rail::pick_and_place::graspdb::GraspModel.

Definition at line 61 of file PCLGraspModel.cpp.

sensor_msgs::PointCloud2 & PCLGraspModel::getPointCloud ( )

Disabled point cloud accessor.

Unavailable function.

Returns:: Nothing (exception will be thrown).

Exceptions:

std::runtime_error Thrown since this method is not supported.

Reimplemented from rail::pick_and_place::graspdb::GraspModel.

Definition at line 56 of file PCLGraspModel.cpp.

bool PCLGraspModel::isOriginal ( ) const

Original flag accessor.

Gets the value of the original flag (defaults to false).

Returns:: The value of the original model flag.

Definition at line 41 of file PCLGraspModel.cpp.

void PCLGraspModel::setOriginal ( const bool original )

Original flag mutator.

Sets the value of the original flag.

Parameters:

original The new value of the original model flag.

Definition at line 46 of file PCLGraspModel.cpp.

void PCLGraspModel::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.

Reimplemented from rail::pick_and_place::graspdb::GraspModel.

Definition at line 66 of file PCLGraspModel.cpp.

graspdb::GraspModel PCLGraspModel::toGraspModel ( ) const

Creates a graspdb GraspModel from this PCL grasp model.

Creates and returns a new graspdb GraspModel from this PCL grasp model.

Returns:: The new graspdb GraspModel.

Definition at line 89 of file PCLGraspModel.cpp.

Member Data Documentation

double rail::pick_and_place::PCLGraspModel::avg_b_ [private]

Definition at line 147 of file PCLGraspModel.h.

double rail::pick_and_place::PCLGraspModel::avg_g_ [private]

Definition at line 147 of file PCLGraspModel.h.

double rail::pick_and_place::PCLGraspModel::avg_r_ [private]

Color information for the point cloud

Definition at line 147 of file PCLGraspModel.h.

bool rail::pick_and_place::PCLGraspModel::original_ [private]

The original model flag.

Definition at line 143 of file PCLGraspModel.h.

pcl::PointCloud<pcl::PointXYZRGB>::Ptr rail::pick_and_place::PCLGraspModel::pc_ [private]

The internal shared pointer to the PCL point cloud.

Definition at line 145 of file PCLGraspModel.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