#include <handle_estimator.h>

Inheritance diagram for jsk_pcl_ros::HandleEstimator:

Public Types
enum	HandleType { NO_HANDLE, HANDLE_SMALL_ENOUGH_STAND_ON_PLANE, HANDLE_SMALL_ENOUGH_LIE_ON_PLANE_Y_LONGEST, HANDLE_SMALL_ENOUGH_LIE_ON_PLANE_X_LONGEST }

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::BoundingBox >	SyncPolicy

Protected Member Functions
virtual void	estimate (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const jsk_recognition_msgs::BoundingBox::ConstPtr &box_msg)

virtual void	estimateHandle (const HandleType &handle_type, const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const jsk_recognition_msgs::BoundingBox::ConstPtr &box_msg)

virtual void	handleSmallEnoughLieOnPlane (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const jsk_recognition_msgs::BoundingBox::ConstPtr &box_msg, bool y_longest)

virtual void	handleSmallEnoughStandOnPlane (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const jsk_recognition_msgs::BoundingBox::ConstPtr &box_msg)

virtual void	onInit ()

virtual void	selectedIndexCallback (const jsk_recognition_msgs::Int32StampedConstPtr &index)

virtual void	subscribe ()

virtual void	unsubscribe ()

Protected Member Functions inherited from jsk_topic_tools::ConnectionBasedNodelet
ros::Publisher	advertise (ros::NodeHandle &nh, std::string topic, int queue_size)

image_transport::CameraPublisher	advertiseCamera (ros::NodeHandle &nh, image_transport::ImageTransport &it, const std::string &topic, int queue_size)

image_transport::CameraPublisher	advertiseCamera (ros::NodeHandle &nh, const std::string &topic, int queue_size)

image_transport::Publisher	advertiseImage (ros::NodeHandle &nh, image_transport::ImageTransport &it, const std::string &topic, int queue_size)

image_transport::Publisher	advertiseImage (ros::NodeHandle &nh, const std::string &topic, int queue_size)

virtual void	cameraConnectionBaseCallback ()

virtual void	cameraConnectionCallback (const image_transport::SingleSubscriberPublisher &pub)

virtual void	cameraInfoConnectionCallback (const ros::SingleSubscriberPublisher &pub)

virtual void	connectionCallback (const ros::SingleSubscriberPublisher &pub)

virtual void	imageConnectionCallback (const image_transport::SingleSubscriberPublisher &pub)

virtual bool	isSubscribed ()

virtual void	onInitPostProcess ()

virtual void	warnNeverSubscribedCallback (const ros::WallTimerEvent &event)

virtual void	warnOnInitPostProcessCalledCallback (const ros::WallTimerEvent &event)

Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Protected Attributes
int	angle_divide_num_

double	approach_offset_

double	gripper_size_

boost::circular_buffer< boost::tuple< geometry_msgs::PoseArray, geometry_msgs::PoseArray > >	output_buf

ros::Publisher	pub_

ros::Publisher	pub_best_

ros::Publisher	pub_preapproach_

ros::Publisher	pub_selected_

ros::Publisher	pub_selected_preapproach_

message_filters::Subscriber< jsk_recognition_msgs::BoundingBox >	sub_box_

ros::Subscriber	sub_index_

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_input_

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

tf::TransformListener *	tf_listener_

Protected Attributes inherited from jsk_topic_tools::ConnectionBasedNodelet
bool	always_subscribe_

std::vector< image_transport::CameraPublisher >	camera_publishers_

boost::mutex	connection_mutex_

ConnectionStatus	connection_status_

bool	ever_subscribed_

std::vector< image_transport::Publisher >	image_publishers_

boost::shared_ptr< ros::NodeHandle >	nh_

bool	on_init_post_process_called_

boost::shared_ptr< ros::NodeHandle >	pnh_

std::vector< ros::Publisher >	publishers_

bool	subscribed_

ros::WallTimer	timer_warn_never_subscribed_

ros::WallTimer	timer_warn_on_init_post_process_called_

bool	verbose_connection_

Additional Inherited Members
Public Member Functions inherited from jsk_topic_tools::ConnectionBasedNodelet
	ConnectionBasedNodelet ()

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

virtual	~Nodelet ()

Detailed Description

Definition at line 58 of file handle_estimator.h.

Member Typedef Documentation

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::BoundingBox > jsk_pcl_ros::HandleEstimator::SyncPolicy

Definition at line 62 of file handle_estimator.h.

Member Enumeration Documentation

enum jsk_pcl_ros::HandleEstimator::HandleType

Enumerator
NO_HANDLE
HANDLE_SMALL_ENOUGH_STAND_ON_PLANE
HANDLE_SMALL_ENOUGH_LIE_ON_PLANE_Y_LONGEST
HANDLE_SMALL_ENOUGH_LIE_ON_PLANE_X_LONGEST

Definition at line 63 of file handle_estimator.h.

Member Function Documentation

void jsk_pcl_ros::HandleEstimator::estimate	(	const sensor_msgs::PointCloud2::ConstPtr &	cloud_msg,
		const jsk_recognition_msgs::BoundingBox::ConstPtr &	box_msg
	)

protectedvirtual

Definition at line 80 of file handle_estimator_nodelet.cpp.

void jsk_pcl_ros::HandleEstimator::estimateHandle	(	const HandleType &	handle_type,
		const sensor_msgs::PointCloud2::ConstPtr &	cloud_msg,
		const jsk_recognition_msgs::BoundingBox::ConstPtr &	box_msg
	)

protectedvirtual

Definition at line 127 of file handle_estimator_nodelet.cpp.

void jsk_pcl_ros::HandleEstimator::handleSmallEnoughLieOnPlane	(	const sensor_msgs::PointCloud2::ConstPtr &	cloud_msg,
		const jsk_recognition_msgs::BoundingBox::ConstPtr &	box_msg,
		bool	y_longest
	)

protectedvirtual

Definition at line 205 of file handle_estimator_nodelet.cpp.

void jsk_pcl_ros::HandleEstimator::handleSmallEnoughStandOnPlane	(	const sensor_msgs::PointCloud2::ConstPtr &	cloud_msg,
		const jsk_recognition_msgs::BoundingBox::ConstPtr &	box_msg
	)

protectedvirtual

Definition at line 145 of file handle_estimator_nodelet.cpp.

void jsk_pcl_ros::HandleEstimator::onInit ( void )

protectedvirtual

Reimplemented from jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 45 of file handle_estimator_nodelet.cpp.

void jsk_pcl_ros::HandleEstimator::selectedIndexCallback ( const jsk_recognition_msgs::Int32StampedConstPtr & index )

protectedvirtual

Definition at line 271 of file handle_estimator_nodelet.cpp.

void jsk_pcl_ros::HandleEstimator::subscribe ( )

protectedvirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 63 of file handle_estimator_nodelet.cpp.

void jsk_pcl_ros::HandleEstimator::unsubscribe ( )

protectedvirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 73 of file handle_estimator_nodelet.cpp.

Member Data Documentation

int jsk_pcl_ros::HandleEstimator::angle_divide_num_

protected

Definition at line 99 of file handle_estimator.h.

double jsk_pcl_ros::HandleEstimator::approach_offset_

protected

Definition at line 98 of file handle_estimator.h.

double jsk_pcl_ros::HandleEstimator::gripper_size_

protected

Definition at line 97 of file handle_estimator.h.

boost::circular_buffer<boost::tuple<geometry_msgs::PoseArray, geometry_msgs::PoseArray> > jsk_pcl_ros::HandleEstimator::output_buf

protected

Definition at line 100 of file handle_estimator.h.

ros::Publisher jsk_pcl_ros::HandleEstimator::pub_

protected

Definition at line 91 of file handle_estimator.h.

ros::Publisher jsk_pcl_ros::HandleEstimator::pub_best_

protected

Definition at line 91 of file handle_estimator.h.

ros::Publisher jsk_pcl_ros::HandleEstimator::pub_preapproach_

protected

Definition at line 91 of file handle_estimator.h.

ros::Publisher jsk_pcl_ros::HandleEstimator::pub_selected_

protected

Definition at line 91 of file handle_estimator.h.

ros::Publisher jsk_pcl_ros::HandleEstimator::pub_selected_preapproach_

protected

Definition at line 91 of file handle_estimator.h.

message_filters::Subscriber<jsk_recognition_msgs::BoundingBox> jsk_pcl_ros::HandleEstimator::sub_box_

protected

Definition at line 95 of file handle_estimator.h.

ros::Subscriber jsk_pcl_ros::HandleEstimator::sub_index_

protected

Definition at line 92 of file handle_estimator.h.

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros::HandleEstimator::sub_input_

protected

Definition at line 94 of file handle_estimator.h.

boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > jsk_pcl_ros::HandleEstimator::sync_

protected

Definition at line 93 of file handle_estimator.h.

tf::TransformListener* jsk_pcl_ros::HandleEstimator::tf_listener_

protected

Definition at line 96 of file handle_estimator.h.

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

Public Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Member Function Documentation

Member Data Documentation