Class aquiring object poses from a pose source and broadcasting the object's pose to tf. More...

#include <pose_broadcaster.h>

Public Member Functions
void	broadcastPose ()
	Broadcasts the object's pose.
bool	getPoseUC3MObjtrack ()
	Not implemented yet! intended to get the pose from the UC3M objectracker by fitting PoseBroadcaster::obj_cloud_ to the blob detected by the kinect Takes a tf::Transform reference and writes the acquired pose to it.
bool	isPoseSourceUC3M ()
	True if pose broadcaster is configured to get the pose of an object from uc3m_objtracker.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	PoseBroadcaster ()
void	setObject (pcl::PointCloud< pcl::PointNormal > const &obj_cloud, std::string const &obj_name)
	Sets the object for which the pose will be broadcasted.
	~PoseBroadcaster ()
Private Member Functions
bool	getPoseGazebo ()
	Gets the pose from a client call to Gazebo's /get_model_state service Takes a tf::Transform reference and writes the acquired pose to it.
Private Attributes
std::string	camera_frame_id_
ros::ServiceClient	gazebo_get_ms_clt_
ros::ServiceClient	get_tracked_obj_
boost::mutex	lock_
ros::NodeHandle	nh_
ros::NodeHandle	nh_private_
pcl::PointCloud< pcl::PointNormal >	obj_cloud_
	Point cloud describing the object geometry.
std::string	obj_name_
tf::Transform	object_pose_
	The pose that is broadcasted in broadcastPose.
std::string	pose_source_
	Describes the pose source. Can be either one of "gazebo" or "uc3m_objtrack".
std::string	ref_frame_id_
	Frame in which the object's pose is expressed in.
tf::TransformBroadcaster	tf_brc_
tf::TransformListener	tf_list_

Detailed Description

Class aquiring object poses from a pose source and broadcasting the object's pose to tf.

Definition at line 26 of file pose_broadcaster.h.

Constructor & Destructor Documentation

ICR::PoseBroadcaster::PoseBroadcaster ( )

Definition at line 14 of file pose_broadcaster.cpp.

ICR::PoseBroadcaster::~PoseBroadcaster ( ) [inline]

Definition at line 35 of file pose_broadcaster.h.

Member Function Documentation

void ICR::PoseBroadcaster::broadcastPose ( )

Broadcasts the object's pose.

Definition at line 58 of file pose_broadcaster.cpp.

bool ICR::PoseBroadcaster::getPoseGazebo ( ) [private]

Gets the pose from a client call to Gazebo's /get_model_state service Takes a tf::Transform reference and writes the acquired pose to it.

Definition at line 97 of file pose_broadcaster.cpp.

bool ICR::PoseBroadcaster::getPoseUC3MObjtrack ( )

Not implemented yet! intended to get the pose from the UC3M objectracker by fitting PoseBroadcaster::obj_cloud_ to the blob detected by the kinect Takes a tf::Transform reference and writes the acquired pose to it.

Definition at line 113 of file pose_broadcaster.cpp.

bool ICR::PoseBroadcaster::isPoseSourceUC3M ( ) [inline]

True if pose broadcaster is configured to get the pose of an object from uc3m_objtracker.

Definition at line 50 of file pose_broadcaster.h.