#include <interactive_point_cloud.h>

Public Member Functions
void	handlePoseAndBoundingBoxCallback (const jsk_recognition_msgs::Int32StampedConstPtr &index, const geometry_msgs::PoseArrayConstPtr &pa, const jsk_recognition_msgs::BoundingBoxArrayConstPtr &box)

void	handlePoseCallback (const geometry_msgs::PoseStampedConstPtr &ps)

void	hide (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
	Clear the cloud stored in this object. More...

	InteractivePointCloud (std::string marker_name, std::string topic_name, std::string server_name)

void	pointCloudAndBoundingBoxCallback (const sensor_msgs::PointCloud2ConstPtr &cloud, const jsk_recognition_msgs::BoundingBoxArrayConstPtr &box, const geometry_msgs::PoseStampedConstPtr &handle)

void	pointCloudCallback (const sensor_msgs::PointCloud2ConstPtr &cloud)

void	setHandlePoseCallback (const geometry_msgs::PoseStampedConstPtr &ps)

	~InteractivePointCloud ()

Private Types
typedef jsk_interactive_marker::InteractivePointCloudConfig	Config

typedef interactive_markers::MenuHandler	MenuHandler

typedef message_filters::sync_policies::ExactTime< jsk_recognition_msgs::Int32Stamped, geometry_msgs::PoseArray, jsk_recognition_msgs::BoundingBoxArray >	SyncHandlePose

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::BoundingBoxArray, geometry_msgs::PoseStamped >	SyncPolicy

Private Member Functions
virtual void	configCallback (Config &config, uint32_t level)

void	leftClickPoint (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)

void	makeMarker (const sensor_msgs::PointCloud2ConstPtr cloud, float size)

void	makeMarker (const sensor_msgs::PointCloud2ConstPtr cloud, const jsk_recognition_msgs::BoundingBoxArrayConstPtr box, const geometry_msgs::PoseStampedConstPtr handle, float size)

void	makeMenu ()

void	markerFeedback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)

void	menuPoint (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)

void	move (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)

void	pickup (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)

void	publishGraspPose ()

void	publishHandPose (geometry_msgs::PoseStamped box_pose)

void	setMarkerPoseCallback (const geometry_msgs::PoseStampedConstPtr &pose_stamped_msg)

Private Attributes
jsk_recognition_msgs::BoundingBoxMovement	box_movement_

jsk_recognition_msgs::BoundingBoxArray	current_box_

sensor_msgs::PointCloud2	current_croud_

bool	display_interactive_manipulator_

bool	exist_handle_tf_

geometry_msgs::PoseStamped	handle_pose_

tf::Transform	handle_tf_

std::string	initial_handle_pose_

std::string	input_bounding_box_

std::string	input_pointcloud_

std::string	marker_name_

geometry_msgs::PoseStamped	marker_pose_

jsk_interactive_marker::ParentAndChildInteractiveMarkerServer	marker_server_

interactive_markers::MenuHandler	menu_handler_

sensor_msgs::PointCloud2	msg_cloud_

boost::mutex	mutex_

ros::NodeHandle	nh_

ros::NodeHandle	pnh_

double	point_size_

ros::Publisher	pub_box_movement_

ros::Publisher	pub_click_point_

ros::Publisher	pub_grasp_pose_

ros::Publisher	pub_handle_pose_

ros::Publisher	pub_handle_pose_array_

ros::Publisher	pub_left_click_

ros::Publisher	pub_left_click_relative_

ros::Publisher	pub_marker_pose_

std::shared_ptr< dynamic_reconfigure::Server< Config > >	srv_

message_filters::Subscriber< jsk_recognition_msgs::BoundingBoxArray >	sub_bounding_box_

message_filters::Subscriber< geometry_msgs::PoseArray >	sub_handle_array_

ros::Subscriber	sub_handle_pose_

message_filters::Subscriber< geometry_msgs::PoseStamped >	sub_initial_handle_pose_

ros::Subscriber	sub_marker_pose_

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_point_cloud_

message_filters::Subscriber< jsk_recognition_msgs::Int32Stamped >	sub_selected_index_

std::shared_ptr< message_filters::Synchronizer< SyncPolicy > >	sync_

std::shared_ptr< message_filters::Synchronizer< SyncHandlePose > >	sync_handle_

tf::TransformListener	tfl_

std::string	topic_

bool	use_bounding_box_

Detailed Description

Definition at line 33 of file interactive_point_cloud.h.

Member Typedef Documentation

typedef jsk_interactive_marker::InteractivePointCloudConfig InteractivePointCloud::Config

private

Definition at line 53 of file interactive_point_cloud.h.

typedef interactive_markers::MenuHandler InteractivePointCloud::MenuHandler

private

Definition at line 58 of file interactive_point_cloud.h.

typedef message_filters::sync_policies::ExactTime<jsk_recognition_msgs::Int32Stamped, geometry_msgs::PoseArray, jsk_recognition_msgs::BoundingBoxArray> InteractivePointCloud::SyncHandlePose

private

Definition at line 62 of file interactive_point_cloud.h.

typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2, jsk_recognition_msgs::BoundingBoxArray, geometry_msgs::PoseStamped> InteractivePointCloud::SyncPolicy

private

Definition at line 59 of file interactive_point_cloud.h.

Constructor & Destructor Documentation

InteractivePointCloud::InteractivePointCloud	(	std::string	marker_name,
		std::string	topic_name,
		std::string	server_name
	)

Definition at line 20 of file interactive_point_cloud.cpp.

InteractivePointCloud::~InteractivePointCloud ( )

Definition at line 71 of file interactive_point_cloud.cpp.

Member Function Documentation

void InteractivePointCloud::configCallback	(	Config &	config,
		uint32_t	level
	)

privatevirtual

Definition at line 73 of file interactive_point_cloud.cpp.

void InteractivePointCloud::handlePoseAndBoundingBoxCallback	(	const jsk_recognition_msgs::Int32StampedConstPtr &	index,
		const geometry_msgs::PoseArrayConstPtr &	pa,
		const jsk_recognition_msgs::BoundingBoxArrayConstPtr &	box
	)

void InteractivePointCloud::handlePoseCallback ( const geometry_msgs::PoseStampedConstPtr & ps )

void InteractivePointCloud::hide ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback )

Clear the cloud stored in this object.

Definition at line 185 of file interactive_point_cloud.cpp.

void InteractivePointCloud::leftClickPoint ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback )

private

Definition at line 160 of file interactive_point_cloud.cpp.

void InteractivePointCloud::makeMarker	(	const sensor_msgs::PointCloud2ConstPtr	cloud,
		float	size
	)

private

Definition at line 228 of file interactive_point_cloud.cpp.

void InteractivePointCloud::makeMarker	(	const sensor_msgs::PointCloud2ConstPtr	cloud,
		const jsk_recognition_msgs::BoundingBoxArrayConstPtr	box,
		const geometry_msgs::PoseStampedConstPtr	handle,
		float	size
	)

private

Definition at line 231 of file interactive_point_cloud.cpp.

void InteractivePointCloud::makeMenu ( )

private

Definition at line 146 of file interactive_point_cloud.cpp.

void InteractivePointCloud::markerFeedback ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback )

private

Definition at line 192 of file interactive_point_cloud.cpp.

void InteractivePointCloud::menuPoint ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback )

private

void InteractivePointCloud::move ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback )

private

Definition at line 154 of file interactive_point_cloud.cpp.

void InteractivePointCloud::pickup ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback )

private

void InteractivePointCloud::pointCloudAndBoundingBoxCallback	(	const sensor_msgs::PointCloud2ConstPtr &	cloud,
		const jsk_recognition_msgs::BoundingBoxArrayConstPtr &	box,
		const geometry_msgs::PoseStampedConstPtr &	handle
	)

Definition at line 102 of file interactive_point_cloud.cpp.

void InteractivePointCloud::pointCloudCallback ( const sensor_msgs::PointCloud2ConstPtr & cloud )

Definition at line 98 of file interactive_point_cloud.cpp.

void InteractivePointCloud::publishGraspPose ( )

private

Definition at line 200 of file interactive_point_cloud.cpp.

void InteractivePointCloud::publishHandPose ( geometry_msgs::PoseStamped box_pose )

private

Definition at line 204 of file interactive_point_cloud.cpp.

void InteractivePointCloud::setHandlePoseCallback ( const geometry_msgs::PoseStampedConstPtr & ps )

Definition at line 108 of file interactive_point_cloud.cpp.

void InteractivePointCloud::setMarkerPoseCallback ( const geometry_msgs::PoseStampedConstPtr & pose_stamped_msg )

private

Definition at line 140 of file interactive_point_cloud.cpp.

Member Data Documentation

jsk_recognition_msgs::BoundingBoxMovement InteractivePointCloud::box_movement_

private

Definition at line 118 of file interactive_point_cloud.h.

jsk_recognition_msgs::BoundingBoxArray InteractivePointCloud::current_box_

private

Definition at line 112 of file interactive_point_cloud.h.

sensor_msgs::PointCloud2 InteractivePointCloud::current_croud_

private

Definition at line 111 of file interactive_point_cloud.h.

bool InteractivePointCloud::display_interactive_manipulator_

private

Definition at line 116 of file interactive_point_cloud.h.

bool InteractivePointCloud::exist_handle_tf_

private

Definition at line 115 of file interactive_point_cloud.h.

geometry_msgs::PoseStamped InteractivePointCloud::handle_pose_

private

Definition at line 113 of file interactive_point_cloud.h.

tf::Transform InteractivePointCloud::handle_tf_

private

Definition at line 114 of file interactive_point_cloud.h.

std::string InteractivePointCloud::initial_handle_pose_

private

Definition at line 109 of file interactive_point_cloud.h.

std::string InteractivePointCloud::input_bounding_box_

private

Definition at line 109 of file interactive_point_cloud.h.

std::string InteractivePointCloud::input_pointcloud_

private

Definition at line 109 of file interactive_point_cloud.h.

std::string InteractivePointCloud::marker_name_

private

Definition at line 84 of file interactive_point_cloud.h.

geometry_msgs::PoseStamped InteractivePointCloud::marker_pose_

private

Definition at line 108 of file interactive_point_cloud.h.

jsk_interactive_marker::ParentAndChildInteractiveMarkerServer InteractivePointCloud::marker_server_

private

Definition at line 101 of file interactive_point_cloud.h.

interactive_markers::MenuHandler InteractivePointCloud::menu_handler_

private

Definition at line 102 of file interactive_point_cloud.h.

sensor_msgs::PointCloud2 InteractivePointCloud::msg_cloud_

private

Definition at line 104 of file interactive_point_cloud.h.

boost::mutex InteractivePointCloud::mutex_

private

Definition at line 55 of file interactive_point_cloud.h.

ros::NodeHandle InteractivePointCloud::nh_

private

Definition at line 85 of file interactive_point_cloud.h.

ros::NodeHandle InteractivePointCloud::pnh_

private

Definition at line 86 of file interactive_point_cloud.h.

double InteractivePointCloud::point_size_

private

Definition at line 105 of file interactive_point_cloud.h.

ros::Publisher InteractivePointCloud::pub_box_movement_

private

Definition at line 87 of file interactive_point_cloud.h.

ros::Publisher InteractivePointCloud::pub_click_point_

private

Definition at line 87 of file interactive_point_cloud.h.

ros::Publisher InteractivePointCloud::pub_grasp_pose_

private

Definition at line 87 of file interactive_point_cloud.h.

ros::Publisher InteractivePointCloud::pub_handle_pose_

private

Definition at line 87 of file interactive_point_cloud.h.

ros::Publisher InteractivePointCloud::pub_handle_pose_array_

private

Definition at line 87 of file interactive_point_cloud.h.

ros::Publisher InteractivePointCloud::pub_left_click_

private

Definition at line 87 of file interactive_point_cloud.h.

ros::Publisher InteractivePointCloud::pub_left_click_relative_

private

Definition at line 87 of file interactive_point_cloud.h.

ros::Publisher InteractivePointCloud::pub_marker_pose_

private

Definition at line 87 of file interactive_point_cloud.h.

std::shared_ptr<dynamic_reconfigure::Server<Config> > InteractivePointCloud::srv_

private

Definition at line 54 of file interactive_point_cloud.h.

message_filters::Subscriber<jsk_recognition_msgs::BoundingBoxArray> InteractivePointCloud::sub_bounding_box_

private

Definition at line 92 of file interactive_point_cloud.h.

message_filters::Subscriber<geometry_msgs::PoseArray> InteractivePointCloud::sub_handle_array_

private

Definition at line 96 of file interactive_point_cloud.h.

ros::Subscriber InteractivePointCloud::sub_handle_pose_

private

Definition at line 88 of file interactive_point_cloud.h.

message_filters::Subscriber<geometry_msgs::PoseStamped> InteractivePointCloud::sub_initial_handle_pose_

private

Definition at line 93 of file interactive_point_cloud.h.

ros::Subscriber InteractivePointCloud::sub_marker_pose_

private

Definition at line 89 of file interactive_point_cloud.h.

message_filters::Subscriber<sensor_msgs::PointCloud2> InteractivePointCloud::sub_point_cloud_

private

Definition at line 91 of file interactive_point_cloud.h.

message_filters::Subscriber<jsk_recognition_msgs::Int32Stamped> InteractivePointCloud::sub_selected_index_

private

Definition at line 95 of file interactive_point_cloud.h.

std::shared_ptr<message_filters::Synchronizer<SyncPolicy> > InteractivePointCloud::sync_

private

Definition at line 98 of file interactive_point_cloud.h.

std::shared_ptr<message_filters::Synchronizer<SyncHandlePose> > InteractivePointCloud::sync_handle_

private

Definition at line 99 of file interactive_point_cloud.h.

tf::TransformListener InteractivePointCloud::tfl_

private

Definition at line 97 of file interactive_point_cloud.h.

std::string InteractivePointCloud::topic_

private

Definition at line 84 of file interactive_point_cloud.h.

bool InteractivePointCloud::use_bounding_box_

private

Definition at line 106 of file interactive_point_cloud.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation