Functions | Variables
Current.cpp File Reference
#include <ros/ros.h>
#include <iostream>
#include <fstream>
#include <ias_drawer_executive/Approach.h>
#include <ias_drawer_executive/RobotDriver.h>
#include <ias_drawer_executive/Gripper.h>
#include <ias_drawer_executive/Geometry.h>
#include <ias_drawer_executive/Pressure.h>
#include <ias_drawer_executive/RobotArm.h>
#include <ias_drawer_executive/Torso.h>
#include <ias_drawer_executive/Head.h>
#include <ias_drawer_executive/OperateHandleController.h>
#include <ias_drawer_executive/Current.h>
#include <ias_drawer_executive/ObjectLocalizer.h>
#include <pcl/common/common.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/point_types.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/features/boundary.h>
#include <pcl/features/normal_3d.h>
#include <pcl/ros/conversions.h>
#include <pcl_ros/point_cloud.h>
#include <pcl_ros/transforms.h>
#include <boost/thread.hpp>
#include <visualization_msgs/Marker.h>
#include "rosbag/bag.h"
#include "rosbag/query.h"
#include "rosbag/view.h"
#include <ias_drawer_executive/Kinect.h>
Include dependency graph for Current.cpp:

Go to the source code of this file.

Functions

void announce (const std::string text, const tf::Stamped< tf::Pose > &poseStamped)
void announce_box (const std::string text, const btVector3 min, const btVector3 max)
void calcBigBowlGraspPoses (const tf::Stamped< tf::Pose > &bowl, tf::Stamped< tf::Pose > &l_pregrasp, tf::Stamped< tf::Pose > &l_grasp, tf::Stamped< tf::Pose > &r_pregrasp, tf::Stamped< tf::Pose > &r_grasp)
void calcPotGraspPoints (tf::Stamped< tf::Pose > det, tf::Stamped< tf::Pose > &leftpreg, tf::Stamped< tf::Pose > &leftg, tf::Stamped< tf::Pose > &rightpreg, tf::Stamped< tf::Pose > &rightg)
int closeDrawer (int jump)
int current (int argc, char **argv)
int development_tools (int argc, char **argv)
btVector3 diff (-.12, 0, 0)
void discardKinectFrame ()
void findBoundary1 (pcl::PointCloud< pcl::PointXYZRGB > &in, pcl::PointCloud< pcl::PointXYZRGB > &edges, pcl::PointCloud< pcl::PointXYZRGB > &other, std::vector< int > &edge_indices)
void findBoundary2 (pcl::PointCloud< pcl::PointXYZRGB > &in, pcl::PointCloud< pcl::PointXYZRGB > &edges, pcl::PointCloud< pcl::PointXYZRGB > &other, std::vector< int > &edge_indices)
int fotopourReadyPopcorn_ (double base_x, double base_y, double base_oz, double base_ow, double height_, double angle, bool do_exit=false)
void getBigBowlOut ()
tf::Stamped< tf::Pose > getBigBowlPose (const btVector3 &search)
int getBowlFromDrawer (int jump)
bool getCircle (const btVector3 min, const btVector3 max, btVector3 &center, double &radius)
bool getCircleFromCloud (pcl::PointCloud< pcl::PointXYZRGB > &pot_cyl_cloud, btVector3 &center, double &radius)
 get circle2d in xy plane within searchspace min->max, from pointcloud in parameter
bool getCirclesFromCloud (pcl::PointCloud< pcl::PointXYZRGB > &pot_cyl_cloud, double radius_goal, double radius_tolerance, std::vector< btVector3 > &center, std::vector< double > &radius, std::vector< int > &numinliers, size_t iterations=5)
void getLidAndBowl (int jump)
bool getLidPose (tf::Stamped< tf::Pose > &lid, btVector3 min=btVector3(-2.134, 2.625, 0.955), btVector3 max=btVector3(-1.663, 3.215, 0.972))
void getPointsInBox (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud, btVector3 min, btVector3 max, pcl::PointCloud< pcl::PointXYZRGB >::Ptr inBox)
void getPotOut (int jump)
bool getPotPose (tf::Stamped< tf::Pose > &potPose, tf::Stamped< tf::Pose > &leftpreg, tf::Stamped< tf::Pose > &leftg, tf::Stamped< tf::Pose > &rightpreg, tf::Stamped< tf::Pose > &rightg, bool via_lid=true)
 pot detector based on pcl
bool graspBigBowl (const tf::Stamped< tf::Pose > &bowl, bool grasp=true)
int openFavouriteDrawer (int jump)
int pourReadyPopcorn_ (double base_x, double base_y, double base_oz, double base_ow, double height_=0.0)
int pourReadyPopcornTable (int jump)
void printPose (const char title[], tf::Stamped< tf::Pose > pose)
void printPose (const char title[], tf::Pose pose)
void printPoseSimple (tf::Stamped< tf::Pose > pose)
void pubCloud (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud)
void pubMarker (tf::Stamped< tf::Pose > pose, double radius)
void putBigBowlOntoIsland ()
void putBigBowlOntoIsland_heater ()
void putBigBowlOntoTable (btVector3 search, double base_x, double base_y, double base_oz, double base_ow)
void returnPotToHeater ()
void returnPotToSink ()
void salt_it (btVector3 saltloc, double base_x=-1.087042+.1, double base_y=1.707556-.025, double base_oz=0.998003, double base_ow=-0.063155)
void shake_it ()
void takepot (int jump)

Variables

ros::Publisher cloud_pub
bool cloud_pub_initialized = false
tf::Stamped< tf::Pose > hack_l
tf::Stamped< tf::Pose > hack_r
int marker_id = 1
ros::Publisher perc_announcer
bool perc_init = false

Function Documentation

void announce ( const std::string  text,
const tf::Stamped< tf::Pose > &  poseStamped 
)

Definition at line 54 of file Current.cpp.

void announce_box ( const std::string  text,
const btVector3  min,
const btVector3  max 
)

Definition at line 115 of file Current.cpp.

void calcBigBowlGraspPoses ( const tf::Stamped< tf::Pose > &  bowl,
tf::Stamped< tf::Pose > &  l_pregrasp,
tf::Stamped< tf::Pose > &  l_grasp,
tf::Stamped< tf::Pose > &  r_pregrasp,
tf::Stamped< tf::Pose > &  r_grasp 
)

Definition at line 3423 of file Current.cpp.

void calcPotGraspPoints ( tf::Stamped< tf::Pose >  det,
tf::Stamped< tf::Pose > &  leftpreg,
tf::Stamped< tf::Pose > &  leftg,
tf::Stamped< tf::Pose > &  rightpreg,
tf::Stamped< tf::Pose > &  rightg 
)

Definition at line 902 of file Current.cpp.

int closeDrawer ( int  jump)

Definition at line 3650 of file Current.cpp.

int current ( int  argc,
char **  argv 
)

bowl detection test?

Definition at line 4008 of file Current.cpp.

int development_tools ( int  argc,
char **  argv 
)

Definition at line 212 of file Current.cpp.

btVector3 diff ( -.  12,
0  ,
0   
)
void discardKinectFrame ( )

Definition at line 546 of file Current.cpp.

void findBoundary1 ( pcl::PointCloud< pcl::PointXYZRGB > &  in,
pcl::PointCloud< pcl::PointXYZRGB > &  edges,
pcl::PointCloud< pcl::PointXYZRGB > &  other,
std::vector< int > &  edge_indices 
)

Definition at line 1207 of file Current.cpp.

void findBoundary2 ( pcl::PointCloud< pcl::PointXYZRGB > &  in,
pcl::PointCloud< pcl::PointXYZRGB > &  edges,
pcl::PointCloud< pcl::PointXYZRGB > &  other,
std::vector< int > &  edge_indices 
)

Definition at line 1257 of file Current.cpp.

int fotopourReadyPopcorn_ ( double  base_x,
double  base_y,
double  base_oz,
double  base_ow,
double  height_,
double  angle,
bool  do_exit = false 
)

pour out the popcorn

Definition at line 2790 of file Current.cpp.

void getBigBowlOut ( )

Definition at line 3559 of file Current.cpp.

tf::Stamped< tf::Pose > getBigBowlPose ( const btVector3 &  search)

Definition at line 3371 of file Current.cpp.

int getBowlFromDrawer ( int  jump)

Definition at line 3642 of file Current.cpp.

bool getCircle ( const btVector3  min,
const btVector3  max,
btVector3 &  center,
double &  radius 
)

Definition at line 592 of file Current.cpp.

bool getCircleFromCloud ( pcl::PointCloud< pcl::PointXYZRGB > &  pot_cyl_cloud,
btVector3 &  center,
double &  radius 
)

get circle2d in xy plane within searchspace min->max, from pointcloud in parameter

Definition at line 707 of file Current.cpp.

bool getCirclesFromCloud ( pcl::PointCloud< pcl::PointXYZRGB > &  pot_cyl_cloud,
double  radius_goal,
double  radius_tolerance,
std::vector< btVector3 > &  center,
std::vector< double > &  radius,
std::vector< int > &  numinliers,
size_t  iterations = 5 
)

Definition at line 768 of file Current.cpp.

void getLidAndBowl ( int  jump)

Definition at line 2244 of file Current.cpp.

bool getLidPose ( tf::Stamped< tf::Pose > &  lid,
btVector3  min = btVector3(-2.134, 2.625,0.955),
btVector3  max = btVector3(-1.663, 3.215,0.972) 
)

Definition at line 863 of file Current.cpp.

void getPointsInBox ( pcl::PointCloud< pcl::PointXYZRGB >::Ptr  cloud,
btVector3  min,
btVector3  max,
pcl::PointCloud< pcl::PointXYZRGB >::Ptr  inBox 
)

Definition at line 554 of file Current.cpp.

void getPotOut ( int  jump)

Definition at line 1633 of file Current.cpp.

bool getPotPose ( tf::Stamped< tf::Pose > &  potPose,
tf::Stamped< tf::Pose > &  leftpreg,
tf::Stamped< tf::Pose > &  leftg,
tf::Stamped< tf::Pose > &  rightpreg,
tf::Stamped< tf::Pose > &  rightg,
bool  via_lid = true 
)

pot detector based on pcl

find circle from pot base cylinder

calc grasp poses

Definition at line 945 of file Current.cpp.

bool graspBigBowl ( const tf::Stamped< tf::Pose > &  bowl,
bool  grasp = true 
)

Definition at line 3446 of file Current.cpp.

int openFavouriteDrawer ( int  jump)

Definition at line 3575 of file Current.cpp.

int pourReadyPopcorn_ ( double  base_x,
double  base_y,
double  base_oz,
double  base_ow,
double  height_ = 0.0 
)

pour out the popcorn

Definition at line 2721 of file Current.cpp.

int pourReadyPopcornTable ( int  jump)

Definition at line 3969 of file Current.cpp.

void printPose ( const char  title[],
tf::Stamped< tf::Pose >  pose 
)

Definition at line 199 of file Current.cpp.

void printPose ( const char  title[],
tf::Pose  pose 
)

Definition at line 2563 of file Current.cpp.

void printPoseSimple ( tf::Stamped< tf::Pose >  pose)

Definition at line 205 of file Current.cpp.

void pubCloud ( pcl::PointCloud< pcl::PointXYZRGB >::Ptr  cloud)

Definition at line 174 of file Current.cpp.

void pubMarker ( tf::Stamped< tf::Pose >  pose,
double  radius 
)

Definition at line 445 of file Current.cpp.

void putBigBowlOntoIsland ( )

Definition at line 3704 of file Current.cpp.

void putBigBowlOntoIsland_heater ( )

Definition at line 3739 of file Current.cpp.

void putBigBowlOntoTable ( btVector3  search,
double  base_x,
double  base_y,
double  base_oz,
double  base_ow 
)

Definition at line 3721 of file Current.cpp.

void returnPotToHeater ( )

Definition at line 2866 of file Current.cpp.

void returnPotToSink ( )

Definition at line 2906 of file Current.cpp.

void salt_it ( btVector3  saltloc,
double  base_x = -1.087042 + .1,
double  base_y = 1.707556 - .025,
double  base_oz = 0.998003,
double  base_ow = -0.063155 
)

Definition at line 3032 of file Current.cpp.

void shake_it ( )

Definition at line 3759 of file Current.cpp.

void takepot ( int  jump)

Definition at line 3343 of file Current.cpp.

Variable Documentation

ros::Publisher cloud_pub

Definition at line 172 of file Current.cpp.

bool cloud_pub_initialized = false

Definition at line 171 of file Current.cpp.

tf::Stamped<tf::Pose> hack_l

Definition at line 2463 of file Current.cpp.

tf::Stamped<tf::Pose> hack_r

Definition at line 2463 of file Current.cpp.

int marker_id = 1

Definition at line 50 of file Current.cpp.

ros::Publisher perc_announcer

Definition at line 48 of file Current.cpp.

bool perc_init = false

Definition at line 49 of file Current.cpp.

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ias_drawer_executive
Author(s): Thomas Ruehr
autogenerated on Thu May 23 2013 09:44:57