#include <plane_reasoner.h>

Inheritance diagram for jsk_pcl_ros_utils::PlaneReasoner:

Public Types
typedef jsk_pcl_ros_utils::PlaneReasonerConfig	Config

typedef pcl::PointXYZRGB	PointT

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices, jsk_recognition_msgs::ModelCoefficientsArray, jsk_recognition_msgs::PolygonArray >	SyncPolicy

Public Types inherited from jsk_topic_tools::DiagnosticNodelet
typedef boost::shared_ptr< DiagnosticNodelet >	Ptr

Public Member Functions
	PlaneReasoner ()

Public Member Functions inherited from jsk_topic_tools::DiagnosticNodelet
	DiagnosticNodelet (const std::string &name)

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 ()

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

virtual std::vector< PlaneInfoContainer >	filterHorizontalPlanes (std::vector< PlaneInfoContainer > &infos)

virtual std::vector< PlaneInfoContainer >	filterPlanesAroundAngle (double reference_angle, double thrshold, std::vector< PlaneInfoContainer > &infos)

virtual std::vector< PlaneInfoContainer >	filterVerticalPlanes (std::vector< PlaneInfoContainer > &infos)

virtual void	onInit ()

virtual std::vector< PlaneInfoContainer >	packInfo (std::vector< pcl::PointIndices::Ptr > &inliers, std::vector< pcl::ModelCoefficients::Ptr > &coefficients, std::vector< jsk_recognition_utils::Plane::Ptr > &planes, std::vector< geometry_msgs::PolygonStamped > &polygons)

virtual void	publishPlaneInfo (std::vector< PlaneInfoContainer > &containers, const std_msgs::Header &header, pcl::PointCloud< PointT >::Ptr cloud, ros::Publisher &pub_inlier, ros::Publisher &pub_coefficients, ros::Publisher &pub_polygons)

virtual void	reason (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &inliers_msg, const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr &coefficients_msg, const jsk_recognition_msgs::PolygonArray::ConstPtr &polygons_msg)

virtual void	subscribe ()

virtual void	unsubscribe ()

Protected Member Functions inherited from jsk_topic_tools::DiagnosticNodelet
virtual void	updateDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)

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
std::string	global_frame_id_

double	horizontal_angular_threshold_

boost::mutex	mutex_

ros::Publisher	pub_horizontal_coefficients_

ros::Publisher	pub_horizontal_inliers_

ros::Publisher	pub_horizontal_polygons_

ros::Publisher	pub_vertical_coefficients_

ros::Publisher	pub_vertical_inliers_

ros::Publisher	pub_vertical_polygons_

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

message_filters::Subscriber< jsk_recognition_msgs::ModelCoefficientsArray >	sub_coefficients_

message_filters::Subscriber< jsk_recognition_msgs::ClusterPointIndices >	sub_inliers_

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_input_

message_filters::Subscriber< jsk_recognition_msgs::PolygonArray >	sub_polygons_

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

tf::TransformListener *	tf_listener_

double	vertical_angular_threshold_

Protected Attributes inherited from jsk_topic_tools::DiagnosticNodelet
TimeredDiagnosticUpdater::Ptr	diagnostic_updater_

const std::string	name_

jsk_topic_tools::VitalChecker::Ptr	vital_checker_

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_

Detailed Description

Definition at line 63 of file plane_reasoner.h.

Member Typedef Documentation

typedef jsk_pcl_ros_utils::PlaneReasonerConfig jsk_pcl_ros_utils::PlaneReasoner::Config

Definition at line 74 of file plane_reasoner.h.

typedef pcl::PointXYZRGB jsk_pcl_ros_utils::PlaneReasoner::PointT

Definition at line 75 of file plane_reasoner.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices, jsk_recognition_msgs::ModelCoefficientsArray, jsk_recognition_msgs::PolygonArray> jsk_pcl_ros_utils::PlaneReasoner::SyncPolicy

Definition at line 73 of file plane_reasoner.h.

Constructor & Destructor Documentation

jsk_pcl_ros_utils::PlaneReasoner::PlaneReasoner ( )

inline

Definition at line 78 of file plane_reasoner.h.

Member Function Documentation

void jsk_pcl_ros_utils::PlaneReasoner::configCallback	(	Config &	config,
		uint32_t	level
	)

protectedvirtual

Definition at line 103 of file plane_reasoner_nodelet.cpp.

std::vector< PlaneInfoContainer > jsk_pcl_ros_utils::PlaneReasoner::filterHorizontalPlanes ( std::vector< PlaneInfoContainer > & infos )

protectedvirtual

Definition at line 229 of file plane_reasoner_nodelet.cpp.

std::vector< PlaneInfoContainer > jsk_pcl_ros_utils::PlaneReasoner::filterPlanesAroundAngle	(	double	reference_angle,
		double	thrshold,
		std::vector< PlaneInfoContainer > &	infos
	)

protectedvirtual

Definition at line 192 of file plane_reasoner_nodelet.cpp.

std::vector< PlaneInfoContainer > jsk_pcl_ros_utils::PlaneReasoner::filterVerticalPlanes ( std::vector< PlaneInfoContainer > & infos )

protectedvirtual

Definition at line 239 of file plane_reasoner_nodelet.cpp.

void jsk_pcl_ros_utils::PlaneReasoner::onInit ( void )

protectedvirtual

Reimplemented from jsk_topic_tools::DiagnosticNodelet.

Definition at line 42 of file plane_reasoner_nodelet.cpp.

std::vector< PlaneInfoContainer > jsk_pcl_ros_utils::PlaneReasoner::packInfo	(	std::vector< pcl::PointIndices::Ptr > &	inliers,
		std::vector< pcl::ModelCoefficients::Ptr > &	coefficients,
		std::vector< jsk_recognition_utils::Plane::Ptr > &	planes,
		std::vector< geometry_msgs::PolygonStamped > &	polygons
	)

protectedvirtual

Definition at line 249 of file plane_reasoner_nodelet.cpp.

void jsk_pcl_ros_utils::PlaneReasoner::publishPlaneInfo	(	std::vector< PlaneInfoContainer > &	containers,
		const std_msgs::Header &	header,
		pcl::PointCloud< PointT >::Ptr	cloud,
		ros::Publisher &	pub_inlier,
		ros::Publisher &	pub_coefficients,
		ros::Publisher &	pub_polygons
	)

protectedvirtual

Definition at line 158 of file plane_reasoner_nodelet.cpp.

void jsk_pcl_ros_utils::PlaneReasoner::reason	(	const sensor_msgs::PointCloud2::ConstPtr &	cloud_msg,
		const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &	inliers_msg,
		const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr &	coefficients_msg,
		const jsk_recognition_msgs::PolygonArray::ConstPtr &	polygons_msg
	)

protectedvirtual

Definition at line 111 of file plane_reasoner_nodelet.cpp.

void jsk_pcl_ros_utils::PlaneReasoner::subscribe ( )

protectedvirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 78 of file plane_reasoner_nodelet.cpp.

void jsk_pcl_ros_utils::PlaneReasoner::unsubscribe ( )

protectedvirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 94 of file plane_reasoner_nodelet.cpp.

Member Data Documentation

std::string jsk_pcl_ros_utils::PlaneReasoner::global_frame_id_

protected

Definition at line 148 of file plane_reasoner.h.

double jsk_pcl_ros_utils::PlaneReasoner::horizontal_angular_threshold_

protected

Definition at line 149 of file plane_reasoner.h.

boost::mutex jsk_pcl_ros_utils::PlaneReasoner::mutex_

protected

Definition at line 143 of file plane_reasoner.h.

ros::Publisher jsk_pcl_ros_utils::PlaneReasoner::pub_horizontal_coefficients_

protected

Definition at line 140 of file plane_reasoner.h.

ros::Publisher jsk_pcl_ros_utils::PlaneReasoner::pub_horizontal_inliers_

protected

Definition at line 139 of file plane_reasoner.h.

ros::Publisher jsk_pcl_ros_utils::PlaneReasoner::pub_horizontal_polygons_

protected

Definition at line 141 of file plane_reasoner.h.

ros::Publisher jsk_pcl_ros_utils::PlaneReasoner::pub_vertical_coefficients_

protected

Definition at line 137 of file plane_reasoner.h.

ros::Publisher jsk_pcl_ros_utils::PlaneReasoner::pub_vertical_inliers_

protected

Definition at line 136 of file plane_reasoner.h.

ros::Publisher jsk_pcl_ros_utils::PlaneReasoner::pub_vertical_polygons_

protected

Definition at line 138 of file plane_reasoner.h.

boost::shared_ptr<dynamic_reconfigure::Server<Config> > jsk_pcl_ros_utils::PlaneReasoner::srv_

protected

Definition at line 134 of file plane_reasoner.h.

message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> jsk_pcl_ros_utils::PlaneReasoner::sub_coefficients_

protected

Definition at line 131 of file plane_reasoner.h.

message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> jsk_pcl_ros_utils::PlaneReasoner::sub_inliers_

protected

Definition at line 130 of file plane_reasoner.h.

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros_utils::PlaneReasoner::sub_input_

protected

Definition at line 129 of file plane_reasoner.h.

message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> jsk_pcl_ros_utils::PlaneReasoner::sub_polygons_

protected

Definition at line 132 of file plane_reasoner.h.

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

protected

Definition at line 133 of file plane_reasoner.h.

tf::TransformListener* jsk_pcl_ros_utils::PlaneReasoner::tf_listener_

protected

Definition at line 135 of file plane_reasoner.h.

double jsk_pcl_ros_utils::PlaneReasoner::vertical_angular_threshold_

protected

Definition at line 150 of file plane_reasoner.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation