Public Member Functions
	CalibrationWrapper (std::string host, ros::NodeHandle nh)

Private Member Functions
void	advertiseServices ()
	Advertises the services in the namespace of nh_. More...

bool	calibSrv (rc_hand_eye_calibration_client::CalibrationRequest &request, rc_hand_eye_calibration_client::CalibrationResponse &response)
	Perform the calibration and return its result. More...

void	dynamicReconfigureCb (rc_hand_eye_calibration_client::hand_eye_calibrationConfig &config, uint32_t)

bool	getCalibResultSrv (rc_hand_eye_calibration_client::CalibrationRequest &request, rc_hand_eye_calibration_client::CalibrationResponse &response)
	Service call to get the result. Also returned directly via calibrate. More...

void	initConfiguration ()

bool	removeSrv (std_srvs::TriggerRequest &request, std_srvs::TriggerResponse &response)
	Remove calibration so sensor reports as uncalibrated. More...

bool	resetSrv (std_srvs::TriggerRequest &request, std_srvs::TriggerResponse &response)
	Delete all stored data, e.g., to start over. More...

bool	saveSrv (std_srvs::TriggerRequest &request, std_srvs::TriggerResponse &response)
	store hand eye calibration on sensor More...

bool	setSlotSrv (rc_hand_eye_calibration_client::SetCalibrationPoseRequest &request, rc_hand_eye_calibration_client::SetCalibrationPoseResponse &response)
	Save given pose and the pose of the grid indexed by the given request.slot. More...

Private Attributes
std::string	host_

ros::NodeHandle	nh_

std::string	paramsUrl_

std::unique_ptr< dynamic_reconfigure::Server< rc_hand_eye_calibration_client::hand_eye_calibrationConfig > >	server_

std::string	servicesUrl_

ros::ServiceServer	srv_calibrate_

ros::ServiceServer	srv_get_result_

ros::ServiceServer	srv_publish_transform_

ros::ServiceServer	srv_remove_

ros::ServiceServer	srv_reset_

ros::ServiceServer	srv_save_

ros::ServiceServer	srv_set_slot_

int	timeoutCurl_

Detailed Description

TODO.

Constructor & Destructor Documentation

CalibrationWrapper::CalibrationWrapper	(	std::string	host,
		ros::NodeHandle	nh
	)

void CalibrationWrapper::advertiseServices ( )

private

Advertises the services in the namespace of nh_.

bool CalibrationWrapper::calibSrv	(	rc_hand_eye_calibration_client::CalibrationRequest &	request,
		rc_hand_eye_calibration_client::CalibrationResponse &	response
	)

private

Perform the calibration and return its result.

Does not save persistently. Call saveSrv for that.

void CalibrationWrapper::dynamicReconfigureCb	(	rc_hand_eye_calibration_client::hand_eye_calibrationConfig &	config,
		uint32_t
	)

private

bool CalibrationWrapper::getCalibResultSrv	(	rc_hand_eye_calibration_client::CalibrationRequest &	request,
		rc_hand_eye_calibration_client::CalibrationResponse &	response
	)

private

Service call to get the result. Also returned directly via calibrate.

void CalibrationWrapper::initConfiguration ( )

private

bool CalibrationWrapper::removeSrv	(	std_srvs::TriggerRequest &	request,
		std_srvs::TriggerResponse &	response
	)

private

Remove calibration so sensor reports as uncalibrated.

bool CalibrationWrapper::resetSrv	(	std_srvs::TriggerRequest &	request,
		std_srvs::TriggerResponse &	response
	)

private

Delete all stored data, e.g., to start over.

bool CalibrationWrapper::saveSrv	(	std_srvs::TriggerRequest &	request,
		std_srvs::TriggerResponse &	response
	)

private

store hand eye calibration on sensor

bool CalibrationWrapper::setSlotSrv	(	rc_hand_eye_calibration_client::SetCalibrationPoseRequest &	request,
		rc_hand_eye_calibration_client::SetCalibrationPoseResponse &	response
	)