Wraps around database connection to provide database-related services through ROS. More...

Public Member Functions
	ObjectsDatabaseNode (const robot_model::RobotModelConstPtr &robot_model)
	ObjectsDatabaseNode ()
	~ObjectsDatabaseNode ()
	~ObjectsDatabaseNode ()
Private Member Functions
geometry_msgs::Vector3	approachDirection (const std::string &name, bool &found)
bool	getDescriptionCB (GetModelDescription::Request &request, GetModelDescription::Response &response)
	Callback for the get description service.
bool	getGrasps (const GraspableObject &target, const std::string &arm_name, std::vector< Grasp > &grasps, GraspPlanningErrorCode &error_code)
bool	getGrasps (const GraspableObject &target, const std::string &arm_name, std::vector< Grasp > &grasps, GraspPlanningErrorCode &error_code)
bool	getMeshCB (GetModelMesh::Request &request, GetModelMesh::Response &response)
	Callback for the get mesh service.
bool	getModelsCB (GetModelList::Request &request, GetModelList::Response &response)
	Callback for the get models service.
bool	getModelsCB (GetModelList::Request &request, GetModelList::Response &response)
	Callback for the get models service.
bool	getScansCB (GetModelScans::Request &request, GetModelScans::Response &response)
std::vector< double >	getVectorDoubleParam (const std::string &name)
void	graspPlanningActionCB (const manipulation_msgs::GraspPlanningGoalConstPtr &goal)
bool	graspPlanningCB (GraspPlanning::Request &request, GraspPlanning::Response &response)
	Callback for the get grasps service.
bool	graspPlanningCB (GraspPlanning::Request &request, GraspPlanning::Response &response)
	Callback for the get grasps service.
geometry_msgs::Pose	multiplyPoses (const geometry_msgs::Pose &p1, const geometry_msgs::Pose &p2)
geometry_msgs::Pose	multiplyPoses (const geometry_msgs::Pose &p1, const geometry_msgs::Pose &p2)
bool	saveScanCB (SaveScan::Request &request, SaveScan::Response &response)
bool	translateIdCB (TranslateRecognitionId::Request &request, TranslateRecognitionId::Response &response)
bool	translateIdCB (TranslateRecognitionId::Request &request, TranslateRecognitionId::Response &response)
void	visualizeGrasps (const std::vector< Grasp > &grasps)
Private Attributes
std::map< std::string, geometry_msgs::Vector3 >	approach_direction_
ObjectsDatabase *	database_
	The database connection itself.
std::map< std::string, std::string >	database_hand_ids_
ros::ServiceServer	get_description_srv_
	Server for the get description service.
ros::ServiceServer	get_mesh_srv_
	Server for the get mesh service.
ros::ServiceServer	get_models_srv_
	Server for the get models service.
ros::ServiceServer	get_scans_srv_
	Server for the get scans service.
std::string	grasp_ordering_method_
	How to order grasps received from database.
actionlib::SimpleActionServer < manipulation_msgs::GraspPlanningAction > *	grasp_planning_server_
	The action server for grasping planning.
ros::ServiceServer	grasp_planning_srv_
	Server for the get grasps service.
tf::TransformListener	listener_
	Transform listener.
ros::NodeHandle	priv_nh_
	Node handle in the private namespace.
const robot_model::RobotModelConstPtr &	robot_model_
ros::NodeHandle	root_nh_
	Node handle in the root namespace.
ros::ServiceServer	save_scan_srv_
	Server for the save scan service.
bool	transform_to_arm_frame_
	If true, will return results in the frame of the arm link the hand is attached to.
ros::ServiceServer	translate_id_srv_
	Server for the id translation service.
ros::Publisher	visualize_grasps_publisher_

Detailed Description

Wraps around database connection to provide database-related services through ROS.

Contains very thin wrappers for getting a list of scaled models and for getting the mesh of a model, as well as a complete server for the grasp planning service

Definition at line 225 of file objects_database_node.cpp.

Constructor & Destructor Documentation

ObjectsDatabaseNode::ObjectsDatabaseNode ( ) [inline]

Definition at line 652 of file objects_database_node.cpp.

ObjectsDatabaseNode::~ObjectsDatabaseNode ( ) [inline]

Definition at line 699 of file objects_database_node.cpp.

ObjectsDatabaseNode::ObjectsDatabaseNode ( const robot_model::RobotModelConstPtr & robot_model ) [inline]

Definition at line 463 of file objects_database_node_simple.cpp.

ObjectsDatabaseNode::~ObjectsDatabaseNode ( ) [inline]

Definition at line 530 of file objects_database_node_simple.cpp.

Member Function Documentation

geometry_msgs::Vector3 ObjectsDatabaseNode::approachDirection	(	const std::string &	name,
		bool &	found
	)		`[inline, private]`

Definition at line 167 of file objects_database_node_simple.cpp.

bool ObjectsDatabaseNode::getDescriptionCB	(	GetModelDescription::Request &	request,
		GetModelDescription::Response &	response
	)		`[inline, private]`

Callback for the get description service.

Definition at line 340 of file objects_database_node.cpp.

bool ObjectsDatabaseNode::getGrasps	(	const GraspableObject &	target,
		const std::string &	arm_name,
		std::vector< Grasp > &	grasps,
		GraspPlanningErrorCode &	error_code
	)		`[inline, private]`

Definition at line 261 of file objects_database_node_simple.cpp.

bool ObjectsDatabaseNode::getGrasps	(	const GraspableObject &	target,
		const std::string &	arm_name,
		std::vector< Grasp > &	grasps,
		GraspPlanningErrorCode &	error_code
	)		`[inline, private]`

Definition at line 412 of file objects_database_node.cpp.

bool ObjectsDatabaseNode::getMeshCB	(	GetModelMesh::Request &	request,
		GetModelMesh::Response &	response
	)		`[inline, private]`

Callback for the get mesh service.

Definition at line 323 of file objects_database_node.cpp.

bool ObjectsDatabaseNode::getModelsCB	(	GetModelList::Request &	request,
		GetModelList::Response &	response
	)		`[inline, private]`

Callback for the get models service.

Definition at line 120 of file objects_database_node_simple.cpp.

bool ObjectsDatabaseNode::getModelsCB	(	GetModelList::Request &	request,
		GetModelList::Response &	response
	)		`[inline, private]`

Callback for the get models service.

Definition at line 301 of file objects_database_node.cpp.

bool ObjectsDatabaseNode::getScansCB	(	GetModelScans::Request &	request,
		GetModelScans::Response &	response
	)		`[inline, private]`

Definition at line 364 of file objects_database_node.cpp.

std::vector<double> ObjectsDatabaseNode::getVectorDoubleParam ( const std::string & name ) [inline, private]

Definition at line 142 of file objects_database_node_simple.cpp.

void ObjectsDatabaseNode::graspPlanningActionCB ( const manipulation_msgs::GraspPlanningGoalConstPtr & goal ) [inline, private]

Definition at line 618 of file objects_database_node.cpp.

bool ObjectsDatabaseNode::graspPlanningCB	(	GraspPlanning::Request &	request,
		GraspPlanning::Response &	response
	)		`[inline, private]`

Callback for the get grasps service.

Definition at line 456 of file objects_database_node_simple.cpp.

bool ObjectsDatabaseNode::graspPlanningCB	(	GraspPlanning::Request &	request,
		GraspPlanning::Response &	response
	)		`[inline, private]`

Callback for the get grasps service.

Definition at line 612 of file objects_database_node.cpp.

geometry_msgs::Pose ObjectsDatabaseNode::multiplyPoses	(	const geometry_msgs::Pose &	p1,
		const geometry_msgs::Pose &	p2
	)		`[inline, private]`

Definition at line 191 of file objects_database_node_simple.cpp.

geometry_msgs::Pose ObjectsDatabaseNode::multiplyPoses	(	const geometry_msgs::Pose &	p1,
		const geometry_msgs::Pose &	p2
	)		`[inline, private]`

Definition at line 398 of file objects_database_node.cpp.

bool ObjectsDatabaseNode::saveScanCB	(	SaveScan::Request &	request,
		SaveScan::Response &	response
	)		`[inline, private]`

Definition at line 378 of file objects_database_node.cpp.

bool ObjectsDatabaseNode::translateIdCB	(	TranslateRecognitionId::Request &	request,
		TranslateRecognitionId::Response &	response
	)		`[inline, private]`

Definition at line 204 of file objects_database_node_simple.cpp.

bool ObjectsDatabaseNode::translateIdCB	(	TranslateRecognitionId::Request &	request,
		TranslateRecognitionId::Response &	response
	)		`[inline, private]`

Definition at line 272 of file objects_database_node.cpp.

void ObjectsDatabaseNode::visualizeGrasps ( const std::vector< Grasp > & grasps ) [inline, private]

Definition at line 232 of file objects_database_node_simple.cpp.

Member Data Documentation

std::map<std::string, geometry_msgs::Vector3> ObjectsDatabaseNode::approach_direction_ [private]

Definition at line 106 of file objects_database_node_simple.cpp.

ObjectsDatabase * ObjectsDatabaseNode::database_ [private]

The database connection itself.

Definition at line 259 of file objects_database_node.cpp.

std::map<std::string, std::string> ObjectsDatabaseNode::database_hand_ids_ [private]

Definition at line 108 of file objects_database_node_simple.cpp.

ros::ServiceServer ObjectsDatabaseNode::get_description_srv_ [private]

Server for the get description service.

Definition at line 241 of file objects_database_node.cpp.

ros::ServiceServer ObjectsDatabaseNode::get_mesh_srv_ [private]

Server for the get mesh service.

Definition at line 238 of file objects_database_node.cpp.

ros::ServiceServer ObjectsDatabaseNode::get_models_srv_ [private]

Server for the get models service.

Definition at line 235 of file objects_database_node.cpp.

ros::ServiceServer ObjectsDatabaseNode::get_scans_srv_ [private]

Server for the get scans service.

Definition at line 250 of file objects_database_node.cpp.

std::string ObjectsDatabaseNode::grasp_ordering_method_ [private]

How to order grasps received from database.

Transform listener.

Possible values: "random" or "quality"

How to order grasps received from database.

Possible values: "random" or "quality"

Definition at line 266 of file objects_database_node.cpp.

actionlib::SimpleActionServer<manipulation_msgs::GraspPlanningAction>* ObjectsDatabaseNode::grasp_planning_server_ [private]

The action server for grasping planning.

Definition at line 247 of file objects_database_node.cpp.

ros::ServiceServer ObjectsDatabaseNode::grasp_planning_srv_ [private]

Server for the get grasps service.

Definition at line 244 of file objects_database_node.cpp.

tf::TransformListener ObjectsDatabaseNode::listener_ [private]

Transform listener.

Definition at line 262 of file objects_database_node.cpp.

ros::NodeHandle ObjectsDatabaseNode::priv_nh_ [private]

Node handle in the private namespace.

Definition at line 229 of file objects_database_node.cpp.

const robot_model::RobotModelConstPtr& ObjectsDatabaseNode::robot_model_ [private]

Definition at line 117 of file objects_database_node_simple.cpp.

ros::NodeHandle ObjectsDatabaseNode::root_nh_ [private]

Node handle in the root namespace.

Definition at line 232 of file objects_database_node.cpp.

ros::ServiceServer ObjectsDatabaseNode::save_scan_srv_ [private]

Server for the save scan service.

Definition at line 253 of file objects_database_node.cpp.

bool ObjectsDatabaseNode::transform_to_arm_frame_ [private]

If true, will return results in the frame of the arm link the hand is attached to.

Info about how to get to that frame is expected to be found on the param server.

Definition at line 270 of file objects_database_node.cpp.

ros::ServiceServer ObjectsDatabaseNode::translate_id_srv_ [private]

Server for the id translation service.

Definition at line 256 of file objects_database_node.cpp.

ros::Publisher ObjectsDatabaseNode::visualize_grasps_publisher_ [private]

Definition at line 101 of file objects_database_node_simple.cpp.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation