robot_calibration::LedFinder Class Reference

This class processes the point cloud input to find the LED. More...

#include <led_finder.h>

Inheritance diagram for robot_calibration::LedFinder:

Classes
struct	CloudDifferenceTracker
	Internally used within LED finder to track each of several LEDs. More...

Public Member Functions
bool	find (robot_calibration_msgs::CalibrationData *msg)
	Once the robot has been moved into the proper position and settled, this function will be called. It should add any new observations to the msg passed in. More...
bool	init (const std::string &name, ros::NodeHandle &n)
	Initialize the feature finder. More...
	LedFinder ()
Public Member Functions inherited from robot_calibration::FeatureFinder
	FeatureFinder ()
std::string	getName ()
	Get the name of this feature finder. More...
virtual	~FeatureFinder ()

Private Types
typedef actionlib::SimpleActionClient< robot_calibration_msgs::GripperLedCommandAction >	LedClient

Private Member Functions
void	cameraCallback (const sensor_msgs::PointCloud2::ConstPtr &cloud)
bool	waitForCloud ()

Private Attributes
std::string	camera_sensor_name_
	Should we output debug image/cloud? More...
std::string	chain_sensor_name_
boost::scoped_ptr< LedClient >	client_
	Outgoing sensor_msgs::PointCloud2. More...
sensor_msgs::PointCloud2	cloud_
std::vector< uint8_t >	codes_
DepthCameraInfoManager	depth_camera_manager_
tf::TransformListener	listener_
double	max_error_
double	max_inconsistency_
	Maximum distance led can be from expected pose. More...
int	max_iterations_
	Minimum value of diffs in order to trigger that this is an LED. More...
bool	output_debug_
	Maximum number of cycles before we abort finding the LED. More...
ros::Publisher	publisher_
	Incoming sensor_msgs::PointCloud2. More...
ros::Subscriber	subscriber_
double	threshold_
std::vector< boost::shared_ptr< ros::Publisher > >	tracker_publishers_
std::vector< CloudDifferenceTracker >	trackers_
bool	waiting_

Detailed Description

This class processes the point cloud input to find the LED.

Definition at line 39 of file led_finder.h.

Member Typedef Documentation

LedClient

typedef actionlib::SimpleActionClient<robot_calibration_msgs::GripperLedCommandAction> robot_calibration::LedFinder::LedClient

private

Definition at line 86 of file led_finder.h.

Constructor & Destructor Documentation

LedFinder()

robot_calibration::LedFinder::LedFinder

(

)

Definition at line 48 of file led_finder.cpp.

Member Function Documentation

cameraCallback()

void robot_calibration::LedFinder::cameraCallback ( const sensor_msgs::PointCloud2::ConstPtr &  cloud )

private

Definition at line 126 of file led_finder.cpp.

find()

bool robot_calibration::LedFinder::find ( robot_calibration_msgs::CalibrationData *  msg )

virtual

Once the robot has been moved into the proper position and settled, this function will be called. It should add any new observations to the msg passed in.

Parameters

msg	The message to which observations should be added.

Returns

True if feature finder succeeded in finding the features and adding them to the observation list. False otherwise.

Implements robot_calibration::FeatureFinder.

Definition at line 157 of file led_finder.cpp.

init()

bool robot_calibration::LedFinder::init ( const std::string &  name, ros::NodeHandle &  nh  )

virtual

Initialize the feature finder.

Parameters

name	The name of this finder.
nh	The nodehandle to use when loading feature finder configuration data.

Returns

True/False if the feature finder was able to be initialized

Reimplemented from robot_calibration::FeatureFinder.

Definition at line 53 of file led_finder.cpp.

waitForCloud()

bool robot_calibration::LedFinder::waitForCloud ( )

private

Definition at line 136 of file led_finder.cpp.

Member Data Documentation

camera_sensor_name_

std::string robot_calibration::LedFinder::camera_sensor_name_

private

Should we output debug image/cloud?

Definition at line 122 of file led_finder.h.

chain_sensor_name_

std::string robot_calibration::LedFinder::chain_sensor_name_

private

Definition at line 123 of file led_finder.h.

client_

boost::scoped_ptr<LedClient> robot_calibration::LedFinder::client_

private

Outgoing sensor_msgs::PointCloud2.

Definition at line 99 of file led_finder.h.

cloud_

sensor_msgs::PointCloud2 robot_calibration::LedFinder::cloud_

private

Definition at line 102 of file led_finder.h.

codes_

std::vector<uint8_t> robot_calibration::LedFinder::codes_

private

Definition at line 106 of file led_finder.h.

depth_camera_manager_

DepthCameraInfoManager robot_calibration::LedFinder::depth_camera_manager_

private

Definition at line 109 of file led_finder.h.

listener_

tf::TransformListener robot_calibration::LedFinder::listener_

private

Definition at line 108 of file led_finder.h.

max_error_

double robot_calibration::LedFinder::max_error_

private

Definition at line 114 of file led_finder.h.

max_inconsistency_

double robot_calibration::LedFinder::max_inconsistency_

private

Maximum distance led can be from expected pose.

Definition at line 115 of file led_finder.h.

max_iterations_

int robot_calibration::LedFinder::max_iterations_

private

Minimum value of diffs in order to trigger that this is an LED.

Definition at line 118 of file led_finder.h.

output_debug_

bool robot_calibration::LedFinder::output_debug_

private

Maximum number of cycles before we abort finding the LED.

Definition at line 120 of file led_finder.h.

publisher_

ros::Publisher robot_calibration::LedFinder::publisher_

private

Incoming sensor_msgs::PointCloud2.

Definition at line 98 of file led_finder.h.

subscriber_

ros::Subscriber robot_calibration::LedFinder::subscriber_

private

Definition at line 97 of file led_finder.h.

threshold_

double robot_calibration::LedFinder::threshold_

private

Definition at line 117 of file led_finder.h.

tracker_publishers_

std::vector<boost::shared_ptr<ros::Publisher> > robot_calibration::LedFinder::tracker_publishers_

private

Definition at line 104 of file led_finder.h.

trackers_

std::vector<CloudDifferenceTracker> robot_calibration::LedFinder::trackers_

private

Definition at line 105 of file led_finder.h.

waiting_

bool robot_calibration::LedFinder::waiting_

private

Definition at line 101 of file led_finder.h.

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

• led_finder.h
• led_finder.cpp