Public Member Functions
	CleanSpotServer (ros::NodeHandle &n)
void	cloudCB (const sensor_msgs::PointCloud2ConstPtr &msg)
	~CleanSpotServer ()
Private Member Functions
void	constructPathMarker (const std::vector< tf::Pose > &poses, const std::string frame_id, visualization_msgs::MarkerArray &marker_list)
void	constructSolutionMarker (std::vector< pcl::PointXYZ > surface_samples, const std::vector< std::vector< unsigned int > > &solutions, const std::string frame_id, std::vector< visualization_msgs::Marker > &marker_list)
void	endEffectorPose (const SurfacePatch p1, const double dist_above_surface, tf::Pose &pose)
void	runThreadCallbackLoop ()
bool	srvCB (coverage_3d_srvs::CleanSpot::Request &req, coverage_3d_srvs::CleanSpot::Response &resp)
Private Attributes
JointSpaceArmController *	arm_control_
pcl::PointCloud< pcl::PointXYZ >	assembled_cloud_
double	box_size_
pcl::PointCloud< pcl::PointXYZ >	cloud_
ros::CallbackQueue	cloud_callback_queue_
boost::recursive_mutex	cloud_mutex_
pcl::PointCloud< pcl::PointXYZ >	cloud_nans_removed_
ros::NodeHandle	cloud_nh_
pcl::PointCloud< pcl::PointXYZ >	cloud_not_used_
ros::Publisher	cloud_pub_
bool	cloud_received_
ros::Subscriber	cloud_sub_
boost::thread *	cloud_thread_
bool	cloud_thread_shutdown_
pcl::PointXYZ	cloud_view_point_
tf::TransformListener	listener
ros::NodeHandle	nh_
ros::Publisher	pub_cloud_not_used_
ros::Publisher	pub_cloud_used_
ros::Publisher	pub_nhgraph_
ros::Publisher	pub_normals_
ros::Publisher	pub_patches_
ros::Publisher	pub_solution_
tf::Point	spot_to_clean_
ros::ServiceServer	srv_
std::vector< double >	start_joint_pose_
tf::Pose	start_tf_pose_
tf::TransformListener	tf_

Detailed Description

Definition at line 69 of file CleanSpotServer.cpp.

Constructor & Destructor Documentation

coverage_3d_executive::CleanSpotServer::CleanSpotServer ( ros::NodeHandle & n )

Definition at line 123 of file CleanSpotServer.cpp.

coverage_3d_executive::CleanSpotServer::~CleanSpotServer ( )

Definition at line 153 of file CleanSpotServer.cpp.

Member Function Documentation

void coverage_3d_executive::CleanSpotServer::cloudCB ( const sensor_msgs::PointCloud2ConstPtr & msg )

Definition at line 362 of file CleanSpotServer.cpp.

void coverage_3d_executive::CleanSpotServer::constructPathMarker	(	const std::vector< tf::Pose > &	poses,
		const std::string	frame_id,
		visualization_msgs::MarkerArray &	marker_list
	)		`[private]`

Definition at line 477 of file CleanSpotServer.cpp.

void coverage_3d_executive::CleanSpotServer::constructSolutionMarker	(	std::vector< pcl::PointXYZ >	surface_samples,
		const std::vector< std::vector< unsigned int > > &	solutions,
		const std::string	frame_id,
		std::vector< visualization_msgs::Marker > &	marker_list
	)		`[private]`

Definition at line 422 of file CleanSpotServer.cpp.

void coverage_3d_executive::CleanSpotServer::endEffectorPose	(	const SurfacePatch	p1,
		const double	dist_above_surface,
		tf::Pose &	pose
	)		`[private]`

Definition at line 518 of file CleanSpotServer.cpp.

void coverage_3d_executive::CleanSpotServer::runThreadCallbackLoop ( ) [private]

Definition at line 159 of file CleanSpotServer.cpp.

bool coverage_3d_executive::CleanSpotServer::srvCB	(	coverage_3d_srvs::CleanSpot::Request &	req,
		coverage_3d_srvs::CleanSpot::Response &	resp
	)		`[private]`