gripper_points_publisher.h
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00001 
00002 #include <ros/ros.h>
00003 #include <pcl_ros/point_cloud.h>
00004 #include <pcl/point_types.h>
00005 #include <tf/tf.h>
00006 #include <tf/transform_listener.h>
00007 
00008 typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
00010 
00017 class GripperPointsPublisher
00018 {
00019 public:
00020 
00021         GripperPointsPublisher();
00022 
00024         void sendGripperPoints(PointCloud Gripper, PointCloud scene);
00026         void callback(const PointCloud::ConstPtr& object, const PointCloud::ConstPtr& scene, tf::TransformListener *listener);
00027 
00028         ros::Publisher pubGripper;
00029         ros::Publisher pubGripper_single;
00030 };
00031 
00032 void filterPointCloud(const PointCloud& stuhl_object, PointCloud& reduzierteKpt, tf::TransformListener *listener);
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estimate_grasp_positions
Author(s): Jan Metzger
autogenerated on Wed Dec 26 2012 15:57:25