#include <objtree_plugin.h>

Inheritance diagram for srs_env_model::CObjTreePlugin:

Public Types
typedef boost::shared_ptr < interactive_markers::InteractiveMarkerServer >	InteractiveMarkerServerPtr
enum	Operation { INSERT, UPDATE, GET_SIMILAR }
Public Member Functions
	CObjTreePlugin (const std::string &name)
	Constructor.
virtual void	init (ros::NodeHandle &node_handle)
	Initialize plugin - called in server constructor.
virtual void	pause (bool bPause, ros::NodeHandle &node_handle)
	Pause/resume plugin. All publishers and subscribers are disconnected on pause.
virtual void	reset ()
	Reset plugin content when reseting whole server.
virtual	~CObjTreePlugin ()
	Destructor.
Protected Member Functions
void	getObjects (const objtree::Filter *filter, std::vector< unsigned int > &output)
unsigned int	insertABox (unsigned int id, const geometry_msgs::Point32 &position, const geometry_msgs::Vector3 &scale, Operation op)
unsigned int	insertBBox (unsigned int id, const geometry_msgs::Pose &pose, const geometry_msgs::Vector3 &scale, Operation op)
unsigned int	insertPlane (const srs_env_model_msgs::PlaneDesc &plane, Operation op)
virtual void	publishInternal (const ros::Time &timestamp)
	Publish data - virtual function.
void	removeObject (unsigned int id)
virtual bool	shouldPublish ()
	Should plugin publish data?
void	showObject (unsigned int id)
void	showObjtree ()
bool	srvGetABox (srs_env_model::GetAlignedBox::Request &req, srs_env_model::GetAlignedBox::Response &res)
	Get information about axis aligned box.
bool	srvGetBBox (srs_env_model::GetBoundingBox::Request &req, srs_env_model::GetBoundingBox::Response &res)
	Get information about bounding box.
bool	srvGetObjectsInBox (srs_env_model::GetObjectsInBox::Request &req, srs_env_model::GetObjectsInBox::Response &res)
	Get objects ids from box.
bool	srvGetObjectsInHalfspace (srs_env_model::GetObjectsInHalfspace::Request &req, srs_env_model::GetObjectsInHalfspace::Response &res)
	Get objects ids from halfspace.
bool	srvGetObjectsInSphere (srs_env_model::GetObjectsInSphere::Request &req, srs_env_model::GetObjectsInSphere::Response &res)
	Get objects ids from sphere.
bool	srvGetPlane (srs_env_model::GetPlane::Request &req, srs_env_model::GetPlane::Response &res)
	Get information about plane.
bool	srvGetSimilarABox (srs_env_model::InsertAlignedBox::Request &req, srs_env_model::InsertAlignedBox::Response &res)
	Get similar axis aligned box id.
bool	srvGetSimilarBBox (srs_env_model::InsertBoundingBox::Request &req, srs_env_model::InsertBoundingBox::Response &res)
	Get similar bounding box id.
bool	srvGetSimilarPlane (srs_env_model::InsertPlane::Request &req, srs_env_model::InsertPlane::Response &res)
	Get similar plane id.
bool	srvInsertABox (srs_env_model::InsertAlignedBox::Request &req, srs_env_model::InsertAlignedBox::Response &res)
	Insert new axis aligned box, update if aligned box with same id exists.
bool	srvInsertABoxByPosition (srs_env_model::InsertAlignedBox::Request &req, srs_env_model::InsertAlignedBox::Response &res)
	Insert new axis aligned box, update if similar aligned box exists.
bool	srvInsertBBox (srs_env_model::InsertBoundingBox::Request &req, srs_env_model::InsertBoundingBox::Response &res)
	Insert new bounding box, update if bounding box with same id exists.
bool	srvInsertBBoxByPosition (srs_env_model::InsertBoundingBox::Request &req, srs_env_model::InsertBoundingBox::Response &res)
	Insert new bounding box, update if similar bounding box exists.
bool	srvInsertPlane (srs_env_model::InsertPlane::Request &req, srs_env_model::InsertPlane::Response &res)
	Insert new plane, update if plane with same id exists.
bool	srvInsertPlaneByPosition (srs_env_model::InsertPlane::Request &req, srs_env_model::InsertPlane::Response &res)
	Insert new plane, update if similar plane exists.
bool	srvInsertPlanes (srs_env_model::InsertPlanes::Request &req, srs_env_model::InsertPlanes::Response &res)
	Insert planes array.
bool	srvRemoveObject (srs_env_model::RemoveObject::Request &req, srs_env_model::RemoveObject::Response &res)
	Remove object by id.
bool	srvShowObject (srs_env_model::ShowObject::Request &req, srs_env_model::ShowObject::Response &res)
	Show object as interaction primitive.
bool	srvShowObjtree (srs_env_model::ShowObjtree::Request &req, srs_env_model::ShowObjtree::Response &res)
	Show octree structure.
Protected Attributes
ros::ServiceClient	m_clientAddBoundingBox
ros::ServiceClient	m_clientAddPlane
ros::ServiceClient	m_clientRemovePrimitive
ros::Publisher	m_markerPub
objtree::Octree	m_octree
ros::ServiceServer	m_serviceGetABox
ros::ServiceServer	m_serviceGetBBox
ros::ServiceServer	m_serviceGetObjectsInBox
ros::ServiceServer	m_serviceGetObjectsInHalfspace
ros::ServiceServer	m_serviceGetObjectsInSphere
ros::ServiceServer	m_serviceGetPlane
ros::ServiceServer	m_serviceGetSimilarABox
ros::ServiceServer	m_serviceGetSimilarBBox
ros::ServiceServer	m_serviceGetSimilarPlane
ros::ServiceServer	m_serviceInsertABox
ros::ServiceServer	m_serviceInsertABoxByPosition
ros::ServiceServer	m_serviceInsertBBox
ros::ServiceServer	m_serviceInsertBBoxByPosition
ros::ServiceServer	m_serviceInsertPlane
ros::ServiceServer	m_serviceInsertPlaneByPosition
ros::ServiceServer	m_serviceInsertPlanes
ros::ServiceServer	m_serviceRemoveObject
ros::ServiceServer	m_serviceShowObject
ros::ServiceServer	m_serviceShowObjtree
Private Member Functions
void	publishCube (visualization_msgs::Marker &lines, float x, float y, float z, float w, float h, float d)
void	publishLine (visualization_msgs::Marker &lines, float x1, float y1, float z1, float x2, float y2, float z2)
void	publishOctree (const std::list< objtree::Box > &nodes)
void	removePrimitiveMarker (unsigned int id)

Detailed Description

Definition at line 57 of file objtree_plugin.h.

Member Typedef Documentation

typedef boost::shared_ptr<interactive_markers::InteractiveMarkerServer> srs_env_model::CObjTreePlugin::InteractiveMarkerServerPtr

Definition at line 60 of file objtree_plugin.h.

Member Enumeration Documentation

enum srs_env_model::CObjTreePlugin::Operation

Enumerator:

INSERT
UPDATE
GET_SIMILAR

Definition at line 73 of file objtree_plugin.h.

Constructor & Destructor Documentation

srs_env_model::CObjTreePlugin::CObjTreePlugin ( const std::string & name )

Constructor.

Definition at line 47 of file objtree_plugin.cpp.

srs_env_model::CObjTreePlugin::~CObjTreePlugin ( ) [virtual]

Destructor.

Definition at line 52 of file objtree_plugin.cpp.

Member Function Documentation

void srs_env_model::CObjTreePlugin::getObjects	(	const objtree::Filter *	filter,
		std::vector< unsigned int > &	output
	)		`[protected]`

Definition at line 613 of file objtree_plugin.cpp.

void srs_env_model::CObjTreePlugin::init ( ros::NodeHandle & node_handle ) [virtual]

Initialize plugin - called in server constructor.

Reimplemented from srs_env_model::CServerPluginBase.

Definition at line 57 of file objtree_plugin.cpp.

unsigned int srs_env_model::CObjTreePlugin::insertABox	(	unsigned int	id,
		const geometry_msgs::Point32 &	position,
		const geometry_msgs::Vector3 &	scale,
		CObjTreePlugin::Operation	op
	)		`[protected]`

Definition at line 373 of file objtree_plugin.cpp.

unsigned int srs_env_model::CObjTreePlugin::insertBBox	(	unsigned int	id,
		const geometry_msgs::Pose &	pose,
		const geometry_msgs::Vector3 &	scale,
		CObjTreePlugin::Operation	op
	)		`[protected]`

Definition at line 407 of file objtree_plugin.cpp.

unsigned int srs_env_model::CObjTreePlugin::insertPlane	(	const srs_env_model_msgs::PlaneDesc &	plane,
		CObjTreePlugin::Operation	op
	)		`[protected]`

Definition at line 331 of file objtree_plugin.cpp.

void srs_env_model::CObjTreePlugin::pause	(	bool	bPause,
		ros::NodeHandle &	node_handle
	)		`[virtual]`

Pause/resume plugin. All publishers and subscribers are disconnected on pause.

Pause/resume plugin. All publishers and subscribers are disconnected on pause

Reimplemented from srs_env_model::CServerPluginBase.

Definition at line 702 of file objtree_plugin.cpp.

void srs_env_model::CObjTreePlugin::publishCube	(	visualization_msgs::Marker &	lines,
		float	x,
		float	y,
		float	z,
		float	w,
		float	h,
		float	d
	)		`[private]`

Definition at line 646 of file objtree_plugin.cpp.

virtual void srs_env_model::CObjTreePlugin::publishInternal ( const ros::Time & timestamp ) [inline, protected, virtual]

Publish data - virtual function.

Implements srs_env_model::CServerPluginBase.

Definition at line 87 of file objtree_plugin.h.

void srs_env_model::CObjTreePlugin::publishLine	(	visualization_msgs::Marker &	lines,
		float	x1,
		float	y1,
		float	z1,
		float	x2,
		float	y2,
		float	z2
	)		`[private]`

Definition at line 629 of file objtree_plugin.cpp.

void srs_env_model::CObjTreePlugin::publishOctree ( const std::list< objtree::Box > & nodes ) [private]

Definition at line 674 of file objtree_plugin.cpp.

void srs_env_model::CObjTreePlugin::removeObject ( unsigned int id ) [protected]

Definition at line 594 of file objtree_plugin.cpp.

void srs_env_model::CObjTreePlugin::removePrimitiveMarker ( unsigned int id ) [private]

Definition at line 664 of file objtree_plugin.cpp.

void srs_env_model::CObjTreePlugin::reset ( ) [virtual]

Reset plugin content when reseting whole server.

Reimplemented from srs_env_model::CServerPluginBase.

Definition at line 89 of file objtree_plugin.cpp.

virtual bool srs_env_model::CObjTreePlugin::shouldPublish ( ) [inline, protected, virtual]

Should plugin publish data?

Implements srs_env_model::CServerPluginBase.

Definition at line 85 of file objtree_plugin.h.

void srs_env_model::CObjTreePlugin::showObject ( unsigned int id ) [protected]

Definition at line 482 of file objtree_plugin.cpp.

void srs_env_model::CObjTreePlugin::showObjtree ( ) [protected]

Definition at line 600 of file objtree_plugin.cpp.

bool srs_env_model::CObjTreePlugin::srvGetABox	(	srs_env_model::GetAlignedBox::Request &	req,
		srs_env_model::GetAlignedBox::Response &	res
	)		`[protected]`

Get information about axis aligned box.

Definition at line 262 of file objtree_plugin.cpp.

bool srs_env_model::CObjTreePlugin::srvGetBBox	(	srs_env_model::GetBoundingBox::Request &	req,
		srs_env_model::GetBoundingBox::Response &	res
	)		`[protected]`

Get information about bounding box.

Definition at line 282 of file objtree_plugin.cpp.

bool srs_env_model::CObjTreePlugin::srvGetObjectsInBox	(	srs_env_model::GetObjectsInBox::Request &	req,
		srs_env_model::GetObjectsInBox::Response &	res
	)		`[protected]`

Get objects ids from box.

Definition at line 307 of file objtree_plugin.cpp.

bool srs_env_model::CObjTreePlugin::srvGetObjectsInHalfspace	(	srs_env_model::GetObjectsInHalfspace::Request &	req,
		srs_env_model::GetObjectsInHalfspace::Response &	res
	)		`[protected]`

Get objects ids from halfspace.

Definition at line 315 of file objtree_plugin.cpp.

bool srs_env_model::CObjTreePlugin::srvGetObjectsInSphere	(	srs_env_model::GetObjectsInSphere::Request &	req,
		srs_env_model::GetObjectsInSphere::Response &	res
	)		`[protected]`

Get objects ids from sphere.

Definition at line 323 of file objtree_plugin.cpp.

bool srs_env_model::CObjTreePlugin::srvGetPlane	(	srs_env_model::GetPlane::Request &	req,
		srs_env_model::GetPlane::Response &	res
	)		`[protected]`

Get information about plane.

Definition at line 231 of file objtree_plugin.cpp.

bool srs_env_model::CObjTreePlugin::srvGetSimilarABox	(	srs_env_model::InsertAlignedBox::Request &	req,
		srs_env_model::InsertAlignedBox::Response &	res
	)		`[protected]`

Get similar axis aligned box id.

Definition at line 180 of file objtree_plugin.cpp.

bool srs_env_model::CObjTreePlugin::srvGetSimilarBBox	(	srs_env_model::InsertBoundingBox::Request &	req,
		srs_env_model::InsertBoundingBox::Response &	res
	)		`[protected]`

Get similar bounding box id.

Definition at line 187 of file objtree_plugin.cpp.

bool srs_env_model::CObjTreePlugin::srvGetSimilarPlane	(	srs_env_model::InsertPlane::Request &	req,
		srs_env_model::InsertPlane::Response &	res
	)		`[protected]`

Get similar plane id.

Definition at line 173 of file objtree_plugin.cpp.

bool srs_env_model::CObjTreePlugin::srvInsertABox	(	srs_env_model::InsertAlignedBox::Request &	req,
		srs_env_model::InsertAlignedBox::Response &	res
	)		`[protected]`

Insert new axis aligned box, update if aligned box with same id exists.

Definition at line 110 of file objtree_plugin.cpp.

bool srs_env_model::CObjTreePlugin::srvInsertABoxByPosition	(	srs_env_model::InsertAlignedBox::Request &	req,
		srs_env_model::InsertAlignedBox::Response &	res
	)		`[protected]`

Insert new axis aligned box, update if similar aligned box exists.

Definition at line 143 of file objtree_plugin.cpp.

bool srs_env_model::CObjTreePlugin::srvInsertBBox	(	srs_env_model::InsertBoundingBox::Request &	req,
		srs_env_model::InsertBoundingBox::Response &	res
	)		`[protected]`

Insert new bounding box, update if bounding box with same id exists.

Definition at line 119 of file objtree_plugin.cpp.

bool srs_env_model::CObjTreePlugin::srvInsertBBoxByPosition	(	srs_env_model::InsertBoundingBox::Request &	req,
		srs_env_model::InsertBoundingBox::Response &	res
	)		`[protected]`

Insert new bounding box, update if similar bounding box exists.

Definition at line 158 of file objtree_plugin.cpp.

bool srs_env_model::CObjTreePlugin::srvInsertPlane	(	srs_env_model::InsertPlane::Request &	req,
		srs_env_model::InsertPlane::Response &	res
	)		`[protected]`

Insert new plane, update if plane with same id exists.

Definition at line 101 of file objtree_plugin.cpp.

bool srs_env_model::CObjTreePlugin::srvInsertPlaneByPosition	(	srs_env_model::InsertPlane::Request &	req,
		srs_env_model::InsertPlane::Response &	res
	)		`[protected]`

Insert new plane, update if similar plane exists.

Definition at line 128 of file objtree_plugin.cpp.

bool srs_env_model::CObjTreePlugin::srvInsertPlanes	(	srs_env_model::InsertPlanes::Request &	req,
		srs_env_model::InsertPlanes::Response &	res
	)		`[protected]`

Insert planes array.

Definition at line 194 of file objtree_plugin.cpp.

bool srs_env_model::CObjTreePlugin::srvRemoveObject	(	srs_env_model::RemoveObject::Request &	req,
		srs_env_model::RemoveObject::Response &	res
	)		`[protected]`

Remove object by id.

Definition at line 217 of file objtree_plugin.cpp.

bool srs_env_model::CObjTreePlugin::srvShowObject	(	srs_env_model::ShowObject::Request &	req,
		srs_env_model::ShowObject::Response &	res
	)		`[protected]`

Show object as interaction primitive.

Definition at line 210 of file objtree_plugin.cpp.

bool srs_env_model::CObjTreePlugin::srvShowObjtree	(	srs_env_model::ShowObjtree::Request &	req,
		srs_env_model::ShowObjtree::Response &	res
	)		`[protected]`