simple_grasping::BasicGraspingPerception Class Reference

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

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_

Detailed Description

ROS wrapper for shape grasp planner + object support segmentation.

Definition at line 51 of file basic_grasping_perception.cpp.

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.

Constructor & Destructor Documentation

simple_grasping::BasicGraspingPerception::BasicGraspingPerception ( ros::NodeHandle  n )

inline

Definition at line 56 of file basic_grasping_perception.cpp.

Member Function Documentation

void simple_grasping::BasicGraspingPerception::cloudCallback ( const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &  cloud )

inlineprivate

Definition at line 100 of file basic_grasping_perception.cpp.

void simple_grasping::BasicGraspingPerception::executeCallback ( const grasping_msgs::FindGraspableObjectsGoalConstPtr &  goal )

inlineprivate

Definition at line 144 of file basic_grasping_perception.cpp.

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