A (simple) semantic world representation for pick and place and other tasks. More...

#include <semantic_world.h>

Public Types
typedef boost::function< void()>	TableCallbackFn
	The signature for a callback on receiving table messages. More...

Public Member Functions
void	addTableCallback (const TableCallbackFn &table_callback)

bool	addTablesToCollisionWorld ()

void	clear ()

std::string	findObjectTable (const geometry_msgs::Pose &pose, double min_distance_from_edge=0.0, double min_vertical_offset=0.0) const

std::vector< geometry_msgs::PoseStamped >	generatePlacePoses (const std::string &table_name, const shapes::ShapeConstPtr &object_shape, const geometry_msgs::Quaternion &object_orientation, double resolution, double delta_height=0.01, unsigned int num_heights=2) const
	Generate possible place poses on the table for a given object. This chooses appropriate values for min_distance_from_edge and for height_above_table based on the object properties. The assumption is that the object is represented by a mesh. More...

std::vector< geometry_msgs::PoseStamped >	generatePlacePoses (const object_recognition_msgs::Table &table, const shapes::ShapeConstPtr &object_shape, const geometry_msgs::Quaternion &object_orientation, double resolution, double delta_height=0.01, unsigned int num_heights=2) const
	Generate possible place poses on the table for a given object. This chooses appropriate values for min_distance_from_edge and for height_above_table based on the object properties. The assumption is that the object is represented by a mesh. More...

std::vector< geometry_msgs::PoseStamped >	generatePlacePoses (const object_recognition_msgs::Table &table, double resolution, double height_above_table, double delta_height=0.01, unsigned int num_heights=2, double min_distance_from_edge=0.10) const
	Generate possible place poses on the table. This samples locations in a grid on the table at the given resolution (in meters) in both X and Y directions. The locations are sampled at the specified height above the table (in meters) and then at subsequent additional heights (num_heights times) incremented by delta_height. Locations are only accepted if they are at least min_distance_from_edge meters from the edge of the table. More...

visualization_msgs::MarkerArray	getPlaceLocationsMarker (const std::vector< geometry_msgs::PoseStamped > &poses) const

std::vector< std::string >	getTableNamesInROI (double minx, double miny, double minz, double maxx, double maxy, double maxz) const
	Get all the tables within a region of interest. More...

object_recognition_msgs::TableArray	getTablesInROI (double minx, double miny, double minz, double maxx, double maxy, double maxz) const
	Get all the tables within a region of interest. More...

bool	isInsideTableContour (const geometry_msgs::Pose &pose, const object_recognition_msgs::Table &table, double min_distance_from_edge=0.0, double min_vertical_offset=0.0) const

	SemanticWorld (const planning_scene::PlanningSceneConstPtr &planning_scene)
	A (simple) semantic world representation for pick and place and other tasks. Currently this is used only to represent tables. More...

Private Member Functions
shapes::Mesh *	createSolidMeshFromPlanarPolygon (const shapes::Mesh &polygon, double thickness) const

shapes::Mesh *	orientPlanarPolygon (const shapes::Mesh &polygon) const

void	tableCallback (const object_recognition_msgs::TableArrayPtr &msg)

void	transformTableArray (object_recognition_msgs::TableArray &table_array) const

Private Attributes
ros::Publisher	collision_object_publisher_

std::map< std::string, object_recognition_msgs::Table >	current_tables_in_collision_world_

ros::NodeHandle	node_handle_

std::vector< geometry_msgs::PoseStamped >	place_poses_

planning_scene::PlanningSceneConstPtr	planning_scene_

ros::Publisher	planning_scene_diff_publisher_

object_recognition_msgs::TableArray	table_array_

TableCallbackFn	table_callback_

ros::Subscriber	table_subscriber_

ros::Publisher	visualization_publisher_

Detailed Description

A (simple) semantic world representation for pick and place and other tasks.

Definition at line 62 of file semantic_world.h.

Member Typedef Documentation

typedef boost::function<void()> moveit::semantic_world::SemanticWorld::TableCallbackFn

The signature for a callback on receiving table messages.

Definition at line 66 of file semantic_world.h.

Constructor & Destructor Documentation

moveit::semantic_world::SemanticWorld::SemanticWorld ( const planning_scene::PlanningSceneConstPtr & planning_scene )

A (simple) semantic world representation for pick and place and other tasks. Currently this is used only to represent tables.

Definition at line 57 of file semantic_world.cpp.

Member Function Documentation

void moveit::semantic_world::SemanticWorld::addTableCallback ( const TableCallbackFn & table_callback )

inline

Definition at line 125 of file semantic_world.h.

bool moveit::semantic_world::SemanticWorld::addTablesToCollisionWorld ( )

Definition at line 94 of file semantic_world.cpp.

void moveit::semantic_world::SemanticWorld::clear ( void )

Definition at line 205 of file semantic_world.cpp.

shapes::Mesh * moveit::semantic_world::SemanticWorld::createSolidMeshFromPlanarPolygon	(	const shapes::Mesh &	polygon,
		double	thickness
	)		const

private

Definition at line 560 of file semantic_world.cpp.

std::string moveit::semantic_world::SemanticWorld::findObjectTable	(	const geometry_msgs::Pose &	pose,
		double	min_distance_from_edge = `0.0`,
		double	min_vertical_offset = `0.0`
	)		const

Definition at line 455 of file semantic_world.cpp.

std::vector< geometry_msgs::PoseStamped > moveit::semantic_world::SemanticWorld::generatePlacePoses	(	const std::string &	table_name,
		const shapes::ShapeConstPtr &	object_shape,
		const geometry_msgs::Quaternion &	object_orientation,
		double	resolution,
		double	delta_height = `0.01`,
		unsigned int	num_heights = `2`
	)		const

Generate possible place poses on the table for a given object. This chooses appropriate values for min_distance_from_edge and for height_above_table based on the object properties. The assumption is that the object is represented by a mesh.

Definition at line 212 of file semantic_world.cpp.

std::vector< geometry_msgs::PoseStamped > moveit::semantic_world::SemanticWorld::generatePlacePoses	(	const object_recognition_msgs::Table &	table,
		const shapes::ShapeConstPtr &	object_shape,
		const geometry_msgs::Quaternion &	object_orientation,
		double	resolution,
		double	delta_height = `0.01`,
		unsigned int	num_heights = `2`
	)		const

Generate possible place poses on the table for a given object. This chooses appropriate values for min_distance_from_edge and for height_above_table based on the object properties. The assumption is that the object is represented by a mesh.

Definition at line 232 of file semantic_world.cpp.

std::vector< geometry_msgs::PoseStamped > moveit::semantic_world::SemanticWorld::generatePlacePoses	(	const object_recognition_msgs::Table &	table,
		double	resolution,
		double	height_above_table,
		double	delta_height = `0.01`,
		unsigned int	num_heights = `2`,
		double	min_distance_from_edge = `0.10`
	)		const

Generate possible place poses on the table. This samples locations in a grid on the table at the given resolution (in meters) in both X and Y directions. The locations are sampled at the specified height above the table (in meters) and then at subsequent additional heights (num_heights times) incremented by delta_height. Locations are only accepted if they are at least min_distance_from_edge meters from the edge of the table.

Definition at line 307 of file semantic_world.cpp.

visualization_msgs::MarkerArray moveit::semantic_world::SemanticWorld::getPlaceLocationsMarker ( const std::vector< geometry_msgs::PoseStamped > & poses ) const

Definition at line 67 of file semantic_world.cpp.

std::vector< std::string > moveit::semantic_world::SemanticWorld::getTableNamesInROI	(	double	minx,
		double	miny,
		double	minz,
		double	maxx,
		double	maxy,
		double	maxz
	)		const

Get all the tables within a region of interest.

Definition at line 188 of file semantic_world.cpp.

object_recognition_msgs::TableArray moveit::semantic_world::SemanticWorld::getTablesInROI	(	double	minx,
		double	miny,
		double	minz,
		double	maxx,
		double	maxy,
		double	maxz
	)		const

Get all the tables within a region of interest.

Definition at line 171 of file semantic_world.cpp.

bool moveit::semantic_world::SemanticWorld::isInsideTableContour	(	const geometry_msgs::Pose &	pose,
		const object_recognition_msgs::Table &	table,
		double	min_distance_from_edge = `0.0`,
		double	min_vertical_offset = `0.0`
	)		const

Definition at line 388 of file semantic_world.cpp.

shapes::Mesh * moveit::semantic_world::SemanticWorld::orientPlanarPolygon ( const shapes::Mesh & polygon ) const

private

Definition at line 506 of file semantic_world.cpp.

void moveit::semantic_world::SemanticWorld::tableCallback ( const object_recognition_msgs::TableArrayPtr & msg )

private

Definition at line 468 of file semantic_world.cpp.

void moveit::semantic_world::SemanticWorld::transformTableArray ( object_recognition_msgs::TableArray & table_array ) const

private

Definition at line 481 of file semantic_world.cpp.

Member Data Documentation

ros::Publisher moveit::semantic_world::SemanticWorld::collision_object_publisher_

private

Definition at line 159 of file semantic_world.h.

std::map<std::string, object_recognition_msgs::Table> moveit::semantic_world::SemanticWorld::current_tables_in_collision_world_

private

Definition at line 153 of file semantic_world.h.

ros::NodeHandle moveit::semantic_world::SemanticWorld::node_handle_

private

Definition at line 147 of file semantic_world.h.

std::vector<geometry_msgs::PoseStamped> moveit::semantic_world::SemanticWorld::place_poses_

private

Definition at line 151 of file semantic_world.h.

planning_scene::PlanningSceneConstPtr moveit::semantic_world::SemanticWorld::planning_scene_

private

Definition at line 145 of file semantic_world.h.

ros::Publisher moveit::semantic_world::SemanticWorld::planning_scene_diff_publisher_

private

Definition at line 163 of file semantic_world.h.

object_recognition_msgs::TableArray moveit::semantic_world::SemanticWorld::table_array_

private

Definition at line 149 of file semantic_world.h.

TableCallbackFn moveit::semantic_world::SemanticWorld::table_callback_

private

Definition at line 161 of file semantic_world.h.

ros::Subscriber moveit::semantic_world::SemanticWorld::table_subscriber_

private

Definition at line 157 of file semantic_world.h.

ros::Publisher moveit::semantic_world::SemanticWorld::visualization_publisher_

private

Definition at line 159 of file semantic_world.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation