Public Member Functions
void	finish ()
	GraspPlannerServer (boost::shared_ptr< GraspPlannerInterface > &plannerPtr)
void	init ()
bool	serviceCallback (object_manipulation_msgs::GraspPlanning::Request &request, object_manipulation_msgs::GraspPlanning::Response &response)
void	timerCallback (const ros::TimerEvent &evnt)
virtual	~GraspPlannerServer ()
Static Public Member Functions
static geometry_msgs::Polygon	createPlanePolygon (const tf::Transform &transform, tfScalar width=0.1, tfScalar length=0.1)
Protected Attributes
boost::shared_ptr < GraspPlannerInterface >	_GraspPlanner
geometry_msgs::PoseStamped	_LastValidGraspPoseMsg
geometry_msgs::PolygonStamped	_LastValidTablePolygonMsg
ros::Publisher	_PlanePublisher
std::string	_PlanePubTopic
ros::Publisher	_PosePublisher
std::string	_PosePubTopic
double	_PublishInterval
bool	_PublishResults
ros::Timer	_PublishTimer
bool	_ResultsSet
std::string	_ServiceName
ros::ServiceServer	_ServiceServer

Detailed Description

Definition at line 25 of file GraspPlannerServer.h.

Constructor & Destructor Documentation

GraspPlannerServer::GraspPlannerServer ( boost::shared_ptr< GraspPlannerInterface > & plannerPtr )

Definition at line 14 of file GraspPlannerServer.cpp.

GraspPlannerServer::~GraspPlannerServer ( ) [virtual]

Definition at line 26 of file GraspPlannerServer.cpp.

geometry_msgs::Polygon GraspPlannerServer::createPlanePolygon	(	const tf::Transform &	transform,
		tfScalar	width = `0.1`,
		tfScalar	length = `0.1`
	)		`[static]`

Definition at line 123 of file GraspPlannerServer.cpp.

void GraspPlannerServer::finish ( )

Definition at line 60 of file GraspPlannerServer.cpp.

void GraspPlannerServer::init ( )

Definition at line 31 of file GraspPlannerServer.cpp.

bool GraspPlannerServer::serviceCallback	(	object_manipulation_msgs::GraspPlanning::Request &	request,
		object_manipulation_msgs::GraspPlanning::Response &	response
	)