simple_grasping Namespace Reference

Classes
class	BasicGraspingPerception
	ROS wrapper for shape grasp planner + object support segmentation. More...
class	ObjectSupportSegmentation
	Class that segments a point cloud into objects and supporting surfaces. More...
class	ShapeGraspPlanner
	A simple grasp planner that uses the bounding box shape to generate viable grasps. More...

Functions
void	colorizeCloud (pcl::PointCloud< pcl::PointXYZRGB > &cloud, float hue)
	Update rgb component of an XYZRGB cloud to a new HSV color. More...
template<typename PointT >
double	distancePointToPlane (const PointT &point, const pcl::ModelCoefficients::Ptr plane)
	Get distance from point to plane. More...
double	distancePointToPlane (const Eigen::Vector4f &point, const pcl::ModelCoefficients::Ptr plane)
	Get distance from point to plane. More...
bool	extractShape (const pcl::PointCloud< pcl::PointXYZRGB > &input, pcl::PointCloud< pcl::PointXYZRGB > &output, shape_msgs::SolidPrimitive &shape, geometry_msgs::Pose &pose)
	Find the smallest shape primitive we can fit around this object. More...
bool	extractShape (const pcl::PointCloud< pcl::PointXYZRGB > &input, const pcl::ModelCoefficients::Ptr model, pcl::PointCloud< pcl::PointXYZRGB > &output, shape_msgs::SolidPrimitive &shape, geometry_msgs::Pose &pose)
	Find the smallest shape primitive we can fit around this object, given the plane parameters. More...
bool	extractUnorientedBoundingBox (const pcl::PointCloud< pcl::PointXYZRGB > &input, shape_msgs::SolidPrimitive &shape, geometry_msgs::Pose &pose)
	Find a bounding box around a cloud. This method does not attempt to find best orientation and so the bounding box will be oriented with the frame of the cloud. More...
void	hsv2rgb (const float h, const float s, const float v, float &r, float &g, float &b)
	Fill in RGB values from HSV values. More...
moveit_msgs::GripperTranslation	makeGripperTranslation (std::string frame, double min, double desired, double x_axis=1.0, double y_axis=0.0, double z_axis=0.0)
Eigen::Quaterniond	quaternionFromEuler (float yaw, float pitch, float roll)

Function Documentation

colorizeCloud()

void simple_grasping::colorizeCloud	(	pcl::PointCloud< pcl::PointXYZRGB > &	cloud,
		float	hue
	)

Update rgb component of an XYZRGB cloud to a new HSV color.

Parameters

cloud	The cloud to update.
hue	The hue to apply.

Definition at line 67 of file cloud_tools.cpp.

distancePointToPlane() [1/2]

template<typename PointT >

double simple_grasping::distancePointToPlane	(	const PointT &	point,
		const pcl::ModelCoefficients::Ptr	plane
	)

Get distance from point to plane.

Parameters

point	The point.
plane	Plane coefficients.

Definition at line 71 of file cloud_tools.h.

distancePointToPlane() [2/2]

double simple_grasping::distancePointToPlane	(	const Eigen::Vector4f &	point,
		const pcl::ModelCoefficients::Ptr	plane
	)

Get distance from point to plane.

Parameters

point	The point.
plane	Plane coefficients.

Definition at line 93 of file cloud_tools.cpp.

extractShape() [1/2]

bool simple_grasping::extractShape	(	const pcl::PointCloud< pcl::PointXYZRGB > &	input,
		pcl::PointCloud< pcl::PointXYZRGB > &	output,
		shape_msgs::SolidPrimitive &	shape,
		geometry_msgs::Pose &	pose
	)

Find the smallest shape primitive we can fit around this object.

Parameters

input	Point Cloud of the object.
output	Point Cloud transformed to the pose frame of the shape primitive fit.
shape	Returned smallest shape primitive fit.
pose	The pose of the shape primitive fit.

Returns

True if a shape was extracted, false if we have a failure.

Definition at line 232 of file shape_extraction.cpp.

extractShape() [2/2]

bool simple_grasping::extractShape	(	const pcl::PointCloud< pcl::PointXYZRGB > &	input,
		const pcl::ModelCoefficients::Ptr	model,
		pcl::PointCloud< pcl::PointXYZRGB > &	output,
		shape_msgs::SolidPrimitive &	shape,
		geometry_msgs::Pose &	pose
	)

Find the smallest shape primitive we can fit around this object, given the plane parameters.

Parameters

input	Point Cloud of the object.
model	Model coefficients for the plane.
output	Point Cloud transformed to the pose frame of the shape primitive fit.
shape	Returned smallest shape primitive fit.
pose	The pose of the shape primitive fit.

Returns

True if a shape was extracted, false if we have a failure.

Definition at line 41 of file shape_extraction.cpp.

extractUnorientedBoundingBox()

bool simple_grasping::extractUnorientedBoundingBox	(	const pcl::PointCloud< pcl::PointXYZRGB > &	input,
		shape_msgs::SolidPrimitive &	shape,
		geometry_msgs::Pose &	pose
	)

Find a bounding box around a cloud. This method does not attempt to find best orientation and so the bounding box will be oriented with the frame of the cloud.

Parameters

input	Point Cloud of the object.
shape	The box fit to this cloud.
pose	The pose of the shape primitive extracted.

Definition at line 253 of file shape_extraction.cpp.

hsv2rgb()

void simple_grasping::hsv2rgb	(	const float	h,
		const float	s,
		const float	v,
		float &	r,
		float &	g,
		float &	b
	)

Fill in RGB values from HSV values.

Parameters

h	HSV hue input.
s	HSV saturation input.
v	HSV value input.
r	RGB red output.
g	RGB green output.
b	RGB blue output.

Definition at line 41 of file cloud_tools.cpp.

makeGripperTranslation()

moveit_msgs::GripperTranslation simple_grasping::makeGripperTranslation	(	std::string	frame,
		double	min,
		double	desired,
		double	x_axis = 1.0,
		double	y_axis = 0.0,
		double	z_axis = 0.0
	)

Definition at line 42 of file shape_grasp_planner.cpp.

quaternionFromEuler()

Eigen::Quaterniond simple_grasping::quaternionFromEuler	(	float	yaw,
		float	pitch,
		float	roll
	)

Definition at line 60 of file shape_grasp_planner.cpp.