simple_grasping::BasicGraspingPerception Class Reference

ROS wrapper for shape grasp planner + object support segmentation. More...

List of all members.

Public Member Functions
	BasicGraspingPerception (ros::NodeHandle n)
Private Types
typedef actionlib::SimpleActionServer < grasping_msgs::FindGraspableObjectsAction >	server_t
Private Member Functions
void	cloudCallback (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &cloud)
void	executeCallback (const grasping_msgs::FindGraspableObjectsGoalConstPtr &goal)
Private Attributes
ros::Subscriber	cloud_sub_
bool	debug_
bool	find_objects_
tf::TransformListener	listener_
ros::NodeHandle	nh_
ros::Publisher	object_cloud_pub_
std::vector < grasping_msgs::Object >	objects_
boost::shared_ptr < ShapeGraspPlanner >	planner_
pcl::PassThrough < pcl::PointXYZRGB >	range_filter_
boost::shared_ptr < ObjectSupportSegmentation >	segmentation_
boost::shared_ptr< server_t >	server_
ros::Publisher	support_cloud_pub_
std::vector < grasping_msgs::Object >	supports_
std::string	world_frame_

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Detailed Description

ROS wrapper for shape grasp planner + object support segmentation.

Definition at line 51 of file basic_grasping_perception.cpp.

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Member Typedef Documentation

typedef actionlib::SimpleActionServer<grasping_msgs::FindGraspableObjectsAction> simple_grasping::BasicGraspingPerception::server_t [private]

Definition at line 53 of file basic_grasping_perception.cpp.

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Constructor & Destructor Documentation

simple_grasping::BasicGraspingPerception::BasicGraspingPerception

(

ros::NodeHandle

n

)

[inline]

Definition at line 56 of file basic_grasping_perception.cpp.

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Member Function Documentation

void simple_grasping::BasicGraspingPerception::cloudCallback

(

const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &

cloud

)

[inline, private]

Definition at line 100 of file basic_grasping_perception.cpp.

void simple_grasping::BasicGraspingPerception::executeCallback

(

const grasping_msgs::FindGraspableObjectsGoalConstPtr &

goal

)

[inline, private]

Definition at line 144 of file basic_grasping_perception.cpp.

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Member Data Documentation

ros::Subscriber simple_grasping::BasicGraspingPerception::cloud_sub_ [private]

Definition at line 192 of file basic_grasping_perception.cpp.

bool simple_grasping::BasicGraspingPerception::debug_ [private]

Definition at line 183 of file basic_grasping_perception.cpp.

bool simple_grasping::BasicGraspingPerception::find_objects_ [private]

Definition at line 188 of file basic_grasping_perception.cpp.

tf::TransformListener simple_grasping::BasicGraspingPerception::listener_ [private]

Definition at line 185 of file basic_grasping_perception.cpp.

ros::NodeHandle simple_grasping::BasicGraspingPerception::nh_ [private]

Definition at line 181 of file basic_grasping_perception.cpp.

ros::Publisher simple_grasping::BasicGraspingPerception::object_cloud_pub_ [private]

Definition at line 193 of file basic_grasping_perception.cpp.

std::vector<grasping_msgs::Object> simple_grasping::BasicGraspingPerception::objects_ [private]

Definition at line 189 of file basic_grasping_perception.cpp.

boost::shared_ptr<ShapeGraspPlanner> simple_grasping::BasicGraspingPerception::planner_ [private]

Definition at line 196 of file basic_grasping_perception.cpp.

pcl::PassThrough<pcl::PointXYZRGB> simple_grasping::BasicGraspingPerception::range_filter_ [private]

Definition at line 201 of file basic_grasping_perception.cpp.

boost::shared_ptr<ObjectSupportSegmentation> simple_grasping::BasicGraspingPerception::segmentation_ [private]

Definition at line 197 of file basic_grasping_perception.cpp.

boost::shared_ptr<server_t> simple_grasping::BasicGraspingPerception::server_ [private]

Definition at line 199 of file basic_grasping_perception.cpp.

ros::Publisher simple_grasping::BasicGraspingPerception::support_cloud_pub_ [private]

Definition at line 194 of file basic_grasping_perception.cpp.

std::vector<grasping_msgs::Object> simple_grasping::BasicGraspingPerception::supports_ [private]

Definition at line 190 of file basic_grasping_perception.cpp.

std::string simple_grasping::BasicGraspingPerception::world_frame_ [private]

Definition at line 186 of file basic_grasping_perception.cpp.

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

• basic_grasping_perception.cpp