handle_estimator.h
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00001 // -*- mode: C++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2014, JSK Lab
00006  *  All rights reserved.
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00008  *  Redistribution and use in source and binary forms, with or without
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00011  *
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00013  *     notice, this list of conditions and the following disclaimer.
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00035 
00036 #ifndef JSK_PCL_ROS_HANDLE_ESTIMATOR_H_
00037 #define JSK_PCL_ROS_HANDLE_ESTIMATOR_H_
00038 
00039 #include <pcl_ros/pcl_nodelet.h>
00040 
00041 #include <message_filters/subscriber.h>
00042 #include <message_filters/time_synchronizer.h>
00043 #include <message_filters/synchronizer.h>
00044 
00045 #include "jsk_pcl_ros/tf_listener_singleton.h"
00046 
00047 #include <jsk_recognition_msgs/BoundingBox.h>
00048 #include "jsk_recognition_msgs/Int32Stamped.h"
00049 #include <geometry_msgs/PoseArray.h>
00050 
00051 #include <boost/circular_buffer.hpp>
00052 #include <boost/tuple/tuple.hpp>
00053 
00054 #include <jsk_topic_tools/connection_based_nodelet.h>
00055 
00056 namespace jsk_pcl_ros
00057 {
00058   class HandleEstimator: public jsk_topic_tools::ConnectionBasedNodelet
00059   {
00060   public:
00061     typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2,
00062                                                        jsk_recognition_msgs::BoundingBox > SyncPolicy;
00063     enum HandleType
00064     {
00065       NO_HANDLE,
00066       HANDLE_SMALL_ENOUGH_STAND_ON_PLANE,
00067       HANDLE_SMALL_ENOUGH_LIE_ON_PLANE_Y_LONGEST,
00068       HANDLE_SMALL_ENOUGH_LIE_ON_PLANE_X_LONGEST
00069     };
00070     
00071   protected:
00072     virtual void onInit();
00073     virtual void estimate(const sensor_msgs::PointCloud2::ConstPtr& cloud_msg,
00074                           const jsk_recognition_msgs::BoundingBox::ConstPtr& box_msg);
00075     virtual void estimateHandle(const HandleType& handle_type,
00076                                 const sensor_msgs::PointCloud2::ConstPtr& cloud_msg,
00077                                 const jsk_recognition_msgs::BoundingBox::ConstPtr& box_msg);
00078     virtual void handleSmallEnoughLieOnPlane(
00079       const sensor_msgs::PointCloud2::ConstPtr& cloud_msg,
00080       const jsk_recognition_msgs::BoundingBox::ConstPtr& box_msg,
00081       bool y_longest);
00082     virtual void handleSmallEnoughStandOnPlane(
00083       const sensor_msgs::PointCloud2::ConstPtr& cloud_msg,
00084       const jsk_recognition_msgs::BoundingBox::ConstPtr& box_msg);
00085 
00086     virtual void selectedIndexCallback( const jsk_recognition_msgs::Int32StampedConstPtr &index);
00087 
00088     virtual void subscribe();
00089     virtual void unsubscribe();
00090     
00091     ros::Publisher pub_, pub_best_, pub_preapproach_, pub_selected_, pub_selected_preapproach_;
00092     ros::Subscriber sub_index_;
00093     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
00094     message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_;
00095     message_filters::Subscriber<jsk_recognition_msgs::BoundingBox> sub_box_;
00096     tf::TransformListener* tf_listener_;
00097     double gripper_size_;
00098     double approach_offset_;
00099     int angle_divide_num_;
00100     boost::circular_buffer<boost::tuple<geometry_msgs::PoseArray, geometry_msgs::PoseArray> > output_buf;
00101   private:
00102   };
00103 }
00104 
00105 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Wed Sep 16 2015 04:36:47