find_base_pose.cpp File Reference

#include <ros/ros.h>
#include <eigen_conversions/eigen_msg.h>
#include <tf/tf.h>
#include <actionlib/server/simple_action_server.h>
#include <find_base_pose/FindBasePoseAction.h>
#include <tf/transform_listener.h>
#include <kinematics_msgs/GetPositionIK.h>
#include <kinematics_msgs/GetPositionFK.h>
#include <pr2_arm_kinematics/pr2_arm_kinematics.h>
#include <pr2_arm_kinematics/pr2_arm_ik.h>
#include <pr2_arm_kinematics/pr2_arm_kinematics_utils.h>
#include <pr2_arm_kinematics/pr2_arm_ik_solver.h>
#include <pr2_arm_kinematics/pr2_arm_kinematics_plugin.h>
#include <kinematics_base/kinematics_base.h>
#include <urdf/model.h>
#include <algorithm>
#include <laser_geometry/laser_geometry.h>
#include <visualization_msgs/Marker.h>
#include <nav_msgs/OccupancyGrid.h>

Include dependency graph for find_base_pose.cpp:

Go to the source code of this file.

Classes
class	FindBasePoseAction
	end: exlude unknown and occupied space from map More...
Functions
int	main (int argc, char **argv)
void	mapCallback (const nav_msgs::OccupancyGrid &msg)
bool	mapFreeCoarse (tf::Stamped< tf::Pose > absPose)
bool	mapFreeCoarseCircumscribed (tf::Stamped< tf::Pose > absPose)
bool	mapFreeFine (tf::Stamped< tf::Pose > absPose)
void	mapToWorld (unsigned int mx, unsigned int my, double &wx, double &wy)
bool	worldToMap (double wx, double wy, unsigned int &mx, unsigned int &my)
void	worldToMapNoBounds (double wx, double wy, int &mx, int &my)
Variables
nav_msgs::OccupancyGrid	coarsemap
pr2_arm_kinematics::PR2ArmIK *	ik_r
pr2_arm_kinematics::PR2ArmKinematics *	kinemal
pr2_arm_kinematics::PR2ArmKinematics *	kinemar
nav_msgs::OccupancyGrid	map
nav_msgs::OccupancyGrid	map_circumscribed
nav_msgs::OccupancyGrid	map_inscribed
bool	map_processed = false
ros::Publisher	occ_pub
float	origin_x_ = 0
float	origin_y_ = 0
float	resolution_ = 0
int	size_x_ = 0
int	size_y_ = 0
pr2_arm_kinematics::PR2ArmIKSolver *	solver
bool	we_have_a_map = false
	exlude unknown and occupied space from map

---

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 1344 of file find_base_pose.cpp.

void mapCallback

(

const nav_msgs::OccupancyGrid &

msg

)

Definition at line 102 of file find_base_pose.cpp.

bool mapFreeCoarse

(

tf::Stamped< tf::Pose >

absPose

)

Definition at line 192 of file find_base_pose.cpp.

bool mapFreeCoarseCircumscribed

(

tf::Stamped< tf::Pose >

absPose

)

Definition at line 208 of file find_base_pose.cpp.

bool mapFreeFine

(

tf::Stamped< tf::Pose >

absPose

)

Definition at line 224 of file find_base_pose.cpp.

void mapToWorld	(	unsigned int	mx,
		unsigned int	my,
		double &	wx,
		double &	wy
	)

Definition at line 74 of file find_base_pose.cpp.

bool worldToMap	(	double	wx,
		double	wy,
		unsigned int &	mx,
		unsigned int &	my
	)

Definition at line 80 of file find_base_pose.cpp.

void worldToMapNoBounds	(	double	wx,
		double	wy,
		int &	mx,
		int &	my
	)

Definition at line 94 of file find_base_pose.cpp.

---

Variable Documentation

nav_msgs::OccupancyGrid coarsemap

Definition at line 65 of file find_base_pose.cpp.

pr2_arm_kinematics::PR2ArmIK* ik_r

Definition at line 54 of file find_base_pose.cpp.

pr2_arm_kinematics::PR2ArmKinematics * kinemal

Definition at line 53 of file find_base_pose.cpp.

pr2_arm_kinematics::PR2ArmKinematics* kinemar

Definition at line 53 of file find_base_pose.cpp.

nav_msgs::OccupancyGrid map

Definition at line 64 of file find_base_pose.cpp.

nav_msgs::OccupancyGrid map_circumscribed

Definition at line 64 of file find_base_pose.cpp.

nav_msgs::OccupancyGrid map_inscribed

Definition at line 64 of file find_base_pose.cpp.

bool map_processed = false

Definition at line 62 of file find_base_pose.cpp.

ros::Publisher occ_pub

Definition at line 100 of file find_base_pose.cpp.

float origin_x_ = 0

Definition at line 71 of file find_base_pose.cpp.

float origin_y_ = 0

Definition at line 72 of file find_base_pose.cpp.

float resolution_ = 0

Definition at line 67 of file find_base_pose.cpp.

int size_x_ = 0

Definition at line 68 of file find_base_pose.cpp.

int size_y_ = 0

Definition at line 69 of file find_base_pose.cpp.

pr2_arm_kinematics::PR2ArmIKSolver* solver

Definition at line 55 of file find_base_pose.cpp.

bool we_have_a_map = false

exlude unknown and occupied space from map

Definition at line 61 of file find_base_pose.cpp.