Public Member Functions | Private Types | Private Member Functions | Private Attributes | List of all members
InteractivePointCloud Class Reference

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

◆ Config

typedef jsk_interactive_marker::InteractivePointCloudConfig InteractivePointCloud::Config
private

Definition at line 53 of file interactive_point_cloud.h.

◆ MenuHandler

typedef interactive_markers::MenuHandler InteractivePointCloud::MenuHandler
private

Definition at line 58 of file interactive_point_cloud.h.

◆ SyncHandlePose

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.

◆ SyncPolicy

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::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::~InteractivePointCloud ( )

Definition at line 71 of file interactive_point_cloud.cpp.

Member Function Documentation

◆ configCallback()

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

Definition at line 73 of file interactive_point_cloud.cpp.

◆ handlePoseAndBoundingBoxCallback()

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

◆ handlePoseCallback()

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

◆ hide()

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.

◆ leftClickPoint()

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

Definition at line 160 of file interactive_point_cloud.cpp.

◆ makeMarker() [1/2]

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.

◆ makeMarker() [2/2]

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

Definition at line 228 of file interactive_point_cloud.cpp.

◆ makeMenu()

void InteractivePointCloud::makeMenu ( )
private

Definition at line 146 of file interactive_point_cloud.cpp.

◆ markerFeedback()

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

Definition at line 192 of file interactive_point_cloud.cpp.

◆ menuPoint()

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

◆ move()

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

Definition at line 154 of file interactive_point_cloud.cpp.

◆ pickup()

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

◆ pointCloudAndBoundingBoxCallback()

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.

◆ pointCloudCallback()

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

Definition at line 98 of file interactive_point_cloud.cpp.

◆ publishGraspPose()

void InteractivePointCloud::publishGraspPose ( )
private

Definition at line 200 of file interactive_point_cloud.cpp.

◆ publishHandPose()

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

Definition at line 204 of file interactive_point_cloud.cpp.

◆ setHandlePoseCallback()

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

Definition at line 108 of file interactive_point_cloud.cpp.

◆ setMarkerPoseCallback()

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

Definition at line 140 of file interactive_point_cloud.cpp.

Member Data Documentation

◆ box_movement_

jsk_recognition_msgs::BoundingBoxMovement InteractivePointCloud::box_movement_
private

Definition at line 118 of file interactive_point_cloud.h.

◆ current_box_

jsk_recognition_msgs::BoundingBoxArray InteractivePointCloud::current_box_
private

Definition at line 112 of file interactive_point_cloud.h.

◆ current_croud_

sensor_msgs::PointCloud2 InteractivePointCloud::current_croud_
private

Definition at line 111 of file interactive_point_cloud.h.

◆ display_interactive_manipulator_

bool InteractivePointCloud::display_interactive_manipulator_
private

Definition at line 116 of file interactive_point_cloud.h.

◆ exist_handle_tf_

bool InteractivePointCloud::exist_handle_tf_
private

Definition at line 115 of file interactive_point_cloud.h.

◆ handle_pose_

geometry_msgs::PoseStamped InteractivePointCloud::handle_pose_
private

Definition at line 113 of file interactive_point_cloud.h.

◆ handle_tf_

tf::Transform InteractivePointCloud::handle_tf_
private

Definition at line 114 of file interactive_point_cloud.h.

◆ initial_handle_pose_

std::string InteractivePointCloud::initial_handle_pose_
private

Definition at line 109 of file interactive_point_cloud.h.

◆ input_bounding_box_

std::string InteractivePointCloud::input_bounding_box_
private

Definition at line 109 of file interactive_point_cloud.h.

◆ input_pointcloud_

std::string InteractivePointCloud::input_pointcloud_
private

Definition at line 109 of file interactive_point_cloud.h.

◆ marker_name_

std::string InteractivePointCloud::marker_name_
private

Definition at line 84 of file interactive_point_cloud.h.

◆ marker_pose_

geometry_msgs::PoseStamped InteractivePointCloud::marker_pose_
private

Definition at line 108 of file interactive_point_cloud.h.

◆ marker_server_

jsk_interactive_marker::ParentAndChildInteractiveMarkerServer InteractivePointCloud::marker_server_
private

Definition at line 101 of file interactive_point_cloud.h.

◆ menu_handler_

interactive_markers::MenuHandler InteractivePointCloud::menu_handler_
private

Definition at line 102 of file interactive_point_cloud.h.

◆ msg_cloud_

sensor_msgs::PointCloud2 InteractivePointCloud::msg_cloud_
private

Definition at line 104 of file interactive_point_cloud.h.

◆ mutex_

boost::mutex InteractivePointCloud::mutex_
private

Definition at line 55 of file interactive_point_cloud.h.

◆ nh_

ros::NodeHandle InteractivePointCloud::nh_
private

Definition at line 85 of file interactive_point_cloud.h.

◆ pnh_

ros::NodeHandle InteractivePointCloud::pnh_
private

Definition at line 86 of file interactive_point_cloud.h.

◆ point_size_

double InteractivePointCloud::point_size_
private

Definition at line 105 of file interactive_point_cloud.h.

◆ pub_box_movement_

ros::Publisher InteractivePointCloud::pub_box_movement_
private

Definition at line 87 of file interactive_point_cloud.h.

◆ pub_click_point_

ros::Publisher InteractivePointCloud::pub_click_point_
private

Definition at line 87 of file interactive_point_cloud.h.

◆ pub_grasp_pose_

ros::Publisher InteractivePointCloud::pub_grasp_pose_
private

Definition at line 87 of file interactive_point_cloud.h.

◆ pub_handle_pose_

ros::Publisher InteractivePointCloud::pub_handle_pose_
private

Definition at line 87 of file interactive_point_cloud.h.

◆ pub_handle_pose_array_

ros::Publisher InteractivePointCloud::pub_handle_pose_array_
private

Definition at line 87 of file interactive_point_cloud.h.

◆ pub_left_click_

ros::Publisher InteractivePointCloud::pub_left_click_
private

Definition at line 87 of file interactive_point_cloud.h.

◆ pub_left_click_relative_

ros::Publisher InteractivePointCloud::pub_left_click_relative_
private

Definition at line 87 of file interactive_point_cloud.h.

◆ pub_marker_pose_

ros::Publisher InteractivePointCloud::pub_marker_pose_
private

Definition at line 87 of file interactive_point_cloud.h.

◆ srv_

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

Definition at line 54 of file interactive_point_cloud.h.

◆ sub_bounding_box_

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

Definition at line 92 of file interactive_point_cloud.h.

◆ sub_handle_array_

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

Definition at line 96 of file interactive_point_cloud.h.

◆ sub_handle_pose_

ros::Subscriber InteractivePointCloud::sub_handle_pose_
private

Definition at line 88 of file interactive_point_cloud.h.

◆ sub_initial_handle_pose_

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

Definition at line 93 of file interactive_point_cloud.h.

◆ sub_marker_pose_

ros::Subscriber InteractivePointCloud::sub_marker_pose_
private

Definition at line 89 of file interactive_point_cloud.h.

◆ sub_point_cloud_

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

Definition at line 91 of file interactive_point_cloud.h.

◆ sub_selected_index_

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

Definition at line 95 of file interactive_point_cloud.h.

◆ sync_

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

Definition at line 98 of file interactive_point_cloud.h.

◆ sync_handle_

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

Definition at line 99 of file interactive_point_cloud.h.

◆ tfl_

tf::TransformListener InteractivePointCloud::tfl_
private

Definition at line 97 of file interactive_point_cloud.h.

◆ topic_

std::string InteractivePointCloud::topic_
private

Definition at line 84 of file interactive_point_cloud.h.

◆ use_bounding_box_

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:

jsk_interactive_marker
Author(s): furuta
autogenerated on Mon Apr 7 2025 02:50:03