org.roboearth.re_ontology.ReVisionROSClient Class Reference

List of all members.

Classes
class	ListenerThread
class	UpdateKnowrobThread
Public Member Functions
	ReVisionROSClient (String node_name)
void	startObjDetectionsListener (String re_vision_topic)
Static Public Member Functions
static HashMap< String, Vector < Object > >	executeQuery (String query)
static double[]	objectPose (SeenObject p)
Static Protected Member Functions
static String	doubleArrayToPlList (double[] a)
static void	initRos (String node_name)
static String	objectArrayToPlList (Object[] a)
static double[]	quaternionToMatrix (Point p, Quaternion q)
Package Attributes
Subscriber.QueueingCallback < ros.pkg.re_msgs.msg.SeenObjectArray >	callback
Thread	listenToObjDetections
Thread	updateKnowRobObjDetections
Static Package Attributes
static NodeHandle	n
static Ros	ros
static Boolean	rosInitialized = false

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Detailed Description

Definition at line 30 of file ReVisionROSClient.java.

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Constructor & Destructor Documentation

org.roboearth.re_ontology.ReVisionROSClient.ReVisionROSClient

(

String

node_name

)

[inline]

Constructor: initializes the ROS environment

Parameters:

node_name

A unique node name

Definition at line 48 of file ReVisionROSClient.java.

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Member Function Documentation

static String org.roboearth.re_ontology.ReVisionROSClient.doubleArrayToPlList

(

double[]

a

)

[inline, static, protected]

Definition at line 207 of file ReVisionROSClient.java.

static HashMap<String, Vector<Object> > org.roboearth.re_ontology.ReVisionROSClient.executeQuery

(

String

query

)

[inline, static]

Wrapper around the JPL Prolog interface

Parameters:

query

A query string in common SWI Prolog syntax

Returns:

A HashMap<VariableName, ResultsVector>

Definition at line 280 of file ReVisionROSClient.java.

static void org.roboearth.re_ontology.ReVisionROSClient.initRos

(

String

node_name

)

[inline, static, protected]

Initialize the ROS environment if it has not yet been initialized

Parameters:

node_name

A unique node name

Definition at line 77 of file ReVisionROSClient.java.

static String org.roboearth.re_ontology.ReVisionROSClient.objectArrayToPlList

(

Object[]

a

)

[inline, static, protected]

Convert a Java array into a Prolog list to be used in the string-based query interface

Parameters:

a	The array to be converted

Returns:

A Prolog list of the form ['a0', 'a1']

Definition at line 192 of file ReVisionROSClient.java.

static double [] org.roboearth.re_ontology.ReVisionROSClient.objectPose

(

SeenObject

p

)

[inline, static]

Read the pose of an object from the SeenObject (detection result)

Parameters:

p	A detected object as SeenObject

Returns:

Row-based 4x4 pose matrix representation

Definition at line 223 of file ReVisionROSClient.java.

static double [] org.roboearth.re_ontology.ReVisionROSClient.quaternionToMatrix	(	Point	p,
		Quaternion	q
	)		[inline, static, protected]

Convert point/quaternion into a 4x4 pose matrix

Parameters:

p	Point (position)
q	Quaternion (orientation)

Returns:

4x4 pose matrix, row-based

Definition at line 235 of file ReVisionROSClient.java.

void org.roboearth.re_ontology.ReVisionROSClient.startObjDetectionsListener

(

String

re_vision_topic

)

[inline]

Definition at line 58 of file ReVisionROSClient.java.

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Member Data Documentation

Subscriber.QueueingCallback<ros.pkg.re_msgs.msg.SeenObjectArray> org.roboearth.re_ontology.ReVisionROSClient.callback [package]

Definition at line 36 of file ReVisionROSClient.java.

Thread org.roboearth.re_ontology.ReVisionROSClient.listenToObjDetections [package]

Definition at line 38 of file ReVisionROSClient.java.

NodeHandle org.roboearth.re_ontology.ReVisionROSClient.n [static, package]

Definition at line 34 of file ReVisionROSClient.java.

Ros org.roboearth.re_ontology.ReVisionROSClient.ros [static, package]

Definition at line 33 of file ReVisionROSClient.java.

Boolean org.roboearth.re_ontology.ReVisionROSClient.rosInitialized = false [static, package]

Definition at line 32 of file ReVisionROSClient.java.

Thread org.roboearth.re_ontology.ReVisionROSClient.updateKnowRobObjDetections [package]

Definition at line 39 of file ReVisionROSClient.java.

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

• ReVisionROSClient.java