robot_calibration::LedFinder Class Reference

This class processes the point cloud input to find the LED. More...

#include <led_finder.h>

Inheritance diagram for robot_calibration::LedFinder:

List of all members.

Classes
struct	CloudDifferenceTracker
	Internally used within LED finder to track each of several LEDs. More...
Public Member Functions
bool	find (robot_calibration_msgs::CalibrationData *msg)
	Attempts to find the led in incoming data.
	LedFinder (ros::NodeHandle &n)
Private Types
typedef actionlib::SimpleActionClient < robot_calibration_msgs::GripperLedCommandAction >	LedClient
Private Member Functions
void	cameraCallback (const sensor_msgs::PointCloud2::ConstPtr &cloud)
bool	waitForCloud ()
Private Attributes
std::string	camera_sensor_name_
	Should we output debug image/cloud?
std::string	chain_sensor_name_
boost::scoped_ptr< LedClient >	client_
	Outgoing sensor_msgs::PointCloud2.
sensor_msgs::PointCloud2	cloud_
std::vector< uint8_t >	codes_
DepthCameraInfoManager	depth_camera_manager_
tf::TransformListener	listener_
double	max_error_
double	max_inconsistency_
	Maximum distance led can be from expected pose.
int	max_iterations_
	Minimum value of diffs in order to trigger that this is an LED.
bool	output_debug_
	Maximum number of cycles before we abort finding the LED.
ros::Publisher	publisher_
	Incoming sensor_msgs::PointCloud2.
ros::Subscriber	subscriber_
double	threshold_
std::vector< boost::shared_ptr < ros::Publisher > >	tracker_publishers_
std::vector < CloudDifferenceTracker >	trackers_
bool	waiting_

---

Detailed Description

This class processes the point cloud input to find the LED.

Definition at line 39 of file led_finder.h.

---

Member Typedef Documentation

typedef actionlib::SimpleActionClient<robot_calibration_msgs::GripperLedCommandAction> robot_calibration::LedFinder::LedClient [private]

Definition at line 86 of file led_finder.h.

---

Constructor & Destructor Documentation

robot_calibration::LedFinder::LedFinder

(

ros::NodeHandle &

n

)

Definition at line 45 of file led_finder.cpp.

---

Member Function Documentation

void robot_calibration::LedFinder::cameraCallback

(

const sensor_msgs::PointCloud2::ConstPtr &

cloud

)

[private]

Definition at line 114 of file led_finder.cpp.

bool robot_calibration::LedFinder::find

(

robot_calibration_msgs::CalibrationData *

msg

)

[virtual]

Attempts to find the led in incoming data.

Parameters:

msg	CalibrationData instance to fill in with led point information.

Returns:

True if point has been filled in.

Implements robot_calibration::FeatureFinder.

Definition at line 145 of file led_finder.cpp.

bool robot_calibration::LedFinder::waitForCloud

(

)

[private]

Definition at line 124 of file led_finder.cpp.

---

Member Data Documentation

std::string robot_calibration::LedFinder::camera_sensor_name_ [private]

Should we output debug image/cloud?

Definition at line 127 of file led_finder.h.

std::string robot_calibration::LedFinder::chain_sensor_name_ [private]

Definition at line 128 of file led_finder.h.

boost::scoped_ptr<LedClient> robot_calibration::LedFinder::client_ [private]

Outgoing sensor_msgs::PointCloud2.

Definition at line 104 of file led_finder.h.

sensor_msgs::PointCloud2 robot_calibration::LedFinder::cloud_ [private]

Definition at line 107 of file led_finder.h.

std::vector<uint8_t> robot_calibration::LedFinder::codes_ [private]

Definition at line 111 of file led_finder.h.

DepthCameraInfoManager robot_calibration::LedFinder::depth_camera_manager_ [private]

Definition at line 114 of file led_finder.h.

tf::TransformListener robot_calibration::LedFinder::listener_ [private]

Definition at line 113 of file led_finder.h.

double robot_calibration::LedFinder::max_error_ [private]

Definition at line 119 of file led_finder.h.

double robot_calibration::LedFinder::max_inconsistency_ [private]

Maximum distance led can be from expected pose.

Definition at line 120 of file led_finder.h.

int robot_calibration::LedFinder::max_iterations_ [private]

Minimum value of diffs in order to trigger that this is an LED.

Definition at line 123 of file led_finder.h.

bool robot_calibration::LedFinder::output_debug_ [private]

Maximum number of cycles before we abort finding the LED.

Definition at line 125 of file led_finder.h.

ros::Publisher robot_calibration::LedFinder::publisher_ [private]

Incoming sensor_msgs::PointCloud2.

Definition at line 103 of file led_finder.h.

ros::Subscriber robot_calibration::LedFinder::subscriber_ [private]

Definition at line 102 of file led_finder.h.

double robot_calibration::LedFinder::threshold_ [private]

Definition at line 122 of file led_finder.h.

std::vector<boost::shared_ptr<ros::Publisher> > robot_calibration::LedFinder::tracker_publishers_ [private]

Definition at line 109 of file led_finder.h.

std::vector<CloudDifferenceTracker> robot_calibration::LedFinder::trackers_ [private]

Definition at line 110 of file led_finder.h.

bool robot_calibration::LedFinder::waiting_ [private]

Definition at line 106 of file led_finder.h.

---

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

• led_finder.h
• led_finder.cpp