GripperPointsPublisher Class Reference

This class estimate and publish the points which are necessary for grasping the object. More...

#include <gripper_points_publisher.h>

List of all members.

Public Member Functions
void	callback (const PointCloud::ConstPtr &object, const PointCloud::ConstPtr &scene, tf::TransformListener *listener)
	get the recognized object and create a filtered PointCloud
	GripperPointsPublisher ()
void	sendGripperPoints (PointCloud Gripper, PointCloud scene)
	publish the gripper points
Public Attributes
ros::Publisher	pubGripper
ros::Publisher	pubGripper_single

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Detailed Description

This class estimate and publish the points which are necessary for grasping the object.

Filter the incoming cloud with a PassThrough filter.
For more informations about the PassThrough filter visit: http://pointclouds.org/documentation/tutorials/passthrough.php#passthrough
Then extract the leftest and rightest point from the filtered_cloud as grasp_points for the pr2 Publish these two points and for visualization on rviz the whole filtered_cloud.

Definition at line 17 of file gripper_points_publisher.h.

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Constructor & Destructor Documentation

GripperPointsPublisher::GripperPointsPublisher

(

)

Definition at line 6 of file gripper_points_publisher.cpp.

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Member Function Documentation

void GripperPointsPublisher::callback	(	const PointCloud::ConstPtr &	object,
		const PointCloud::ConstPtr &	scene,
		tf::TransformListener *	listener
	)

get the recognized object and create a filtered PointCloud

Definition at line 23 of file gripper_points_publisher.cpp.

void GripperPointsPublisher::sendGripperPoints	(	PointCloud	Gripper,
		PointCloud	scene
	)

publish the gripper points

Definition at line 12 of file gripper_points_publisher.cpp.

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Member Data Documentation

ros::Publisher GripperPointsPublisher::pubGripper

Definition at line 28 of file gripper_points_publisher.h.

ros::Publisher GripperPointsPublisher::pubGripper_single

Definition at line 29 of file gripper_points_publisher.h.

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

• gripper_points_publisher.h
• gripper_points_publisher.cpp