robot_calibration::RobotFinder Class Reference

#include <robot_finder.h>

Inheritance diagram for robot_calibration::RobotFinder:

Public Member Functions
virtual 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...
virtual bool	init (const std::string &name, ros::NodeHandle &n)
	Initialize the feature finder. More...
	RobotFinder ()
virtual	~RobotFinder ()=default
Public Member Functions inherited from robot_calibration::PlaneFinder
	PlaneFinder ()
virtual	~PlaneFinder ()=default
Public Member Functions inherited from robot_calibration::FeatureFinder
	FeatureFinder ()
std::string	getName ()
	Get the name of this feature finder. More...
virtual	~FeatureFinder ()

Protected Attributes
double	max_robot_x_
double	max_robot_y_
double	max_robot_z_
double	min_robot_x_
double	min_robot_y_
double	min_robot_z_
ros::Publisher	robot_publisher_
std::string	robot_sensor_name_
Protected Attributes inherited from robot_calibration::PlaneFinder
sensor_msgs::PointCloud2	cloud_
double	cos_normal_angle_
DepthCameraInfoManager	depth_camera_manager_
Eigen::Vector3d	desired_normal_
double	initial_sampling_distance_
double	max_x_
double	max_y_
double	max_z_
double	min_x_
double	min_y_
double	min_z_
bool	output_debug_
std::string	plane_sensor_name_
double	plane_tolerance_
int	points_max_
ros::Publisher	publisher_
int	ransac_iterations_
int	ransac_points_
ros::Subscriber	subscriber_
tf2_ros::Buffer	tf_buffer_
tf2_ros::TransformListener	tf_listener_
std::string	transform_frame_
bool	waiting_

Additional Inherited Members
Protected Member Functions inherited from robot_calibration::PlaneFinder
virtual void	cameraCallback (const sensor_msgs::PointCloud2 &cloud)
	ROS callback - updates cloud_ and resets waiting_ to false. More...
virtual void	extractObservation (const std::string &sensor_name, const sensor_msgs::PointCloud2 &cloud, robot_calibration_msgs::CalibrationData *msg, ros::Publisher *publisher)
	Extract points from a cloud into a calibration message. More...
virtual sensor_msgs::PointCloud2	extractPlane (sensor_msgs::PointCloud2 &cloud)
	Extract a plane from the point cloud. More...
virtual void	removeInvalidPoints (sensor_msgs::PointCloud2 &cloud, double min_x, double max_x, double min_y, double max_y, double min_z, double max_z)
	Remove invalid points from a cloud. More...
virtual bool	waitForCloud ()
	Wait until a new cloud has arrived. More...

Detailed Description

Definition at line 27 of file robot_finder.h.

Constructor & Destructor Documentation

RobotFinder()

robot_calibration::RobotFinder::RobotFinder

(

)

Definition at line 36 of file robot_finder.cpp.

~RobotFinder()

virtual robot_calibration::RobotFinder::~RobotFinder ( )

virtualdefault

Member Function Documentation

find()

bool robot_calibration::RobotFinder::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.

Reimplemented from robot_calibration::PlaneFinder.

Definition at line 64 of file robot_finder.cpp.

init()

bool robot_calibration::RobotFinder::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::PlaneFinder.

Definition at line 41 of file robot_finder.cpp.

Member Data Documentation

max_robot_x_

double robot_calibration::RobotFinder::max_robot_x_

protected

Definition at line 43 of file robot_finder.h.

max_robot_y_

double robot_calibration::RobotFinder::max_robot_y_

protected

Definition at line 45 of file robot_finder.h.

max_robot_z_

double robot_calibration::RobotFinder::max_robot_z_

protected

Definition at line 47 of file robot_finder.h.

min_robot_x_

double robot_calibration::RobotFinder::min_robot_x_

protected

Definition at line 42 of file robot_finder.h.

min_robot_y_

double robot_calibration::RobotFinder::min_robot_y_

protected

Definition at line 44 of file robot_finder.h.

min_robot_z_

double robot_calibration::RobotFinder::min_robot_z_

protected

Definition at line 46 of file robot_finder.h.

robot_publisher_

ros::Publisher robot_calibration::RobotFinder::robot_publisher_

protected

Definition at line 40 of file robot_finder.h.

robot_sensor_name_

std::string robot_calibration::RobotFinder::robot_sensor_name_

protected

Definition at line 37 of file robot_finder.h.

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

• robot_finder.h
• robot_finder.cpp