#include <calibrator.h>

Public Types
typedef boost::function< void(const geometry_msgs::Transform::ConstPtr &)>	camera_object_subscriber_callback_t
	subscriber type declaration for camera->object topic subscriber
typedef boost::function< bool(visp_hand2eye_calibration::compute_effector_camera_quick::Request &, visp_hand2eye_calibration::compute_effector_camera_quick::Response &res)>	compute_effector_camera_quick_service_callback_t
	service type declaration for quick effector->camera computation service
typedef boost::function< bool(visp_hand2eye_calibration::compute_effector_camera::Request &, visp_hand2eye_calibration::compute_effector_camera::Response &res)>	compute_effector_camera_service_callback_t
	service type declaration for effector->camera computation service
typedef boost::function< bool(visp_hand2eye_calibration::reset::Request &, visp_hand2eye_calibration::reset::Response &res)>	reset_service_callback_t
	service type declaration for reset service
typedef boost::function< void(const geometry_msgs::Transform::ConstPtr &trans)>	world_effector_subscriber_t
	subscriber type declaration for world->effector topic subscriber
Public Member Functions
	Calibrator ()
	advertises services and subscribes to topics
void	spin ()
	spins the ros node
	~Calibrator ()
Private Member Functions
void	cameraObjectCallback (const geometry_msgs::Transform::ConstPtr &trans)
	callback corresponding to the camera->object topic.
bool	computeEffectorCameraCallback (visp_hand2eye_calibration::compute_effector_camera::Request &req, visp_hand2eye_calibration::compute_effector_camera::Response &res)
	service computing world->effector transformation from accumulated data.
bool	computeEffectorCameraQuickCallback (visp_hand2eye_calibration::compute_effector_camera_quick::Request &req, visp_hand2eye_calibration::compute_effector_camera_quick::Response &res)
	service computing world->effector transformation from parameter-passed data.
bool	resetCallback (visp_hand2eye_calibration::reset::Request &req, visp_hand2eye_calibration::reset::Response &res)
	service reseting the acumulated data
void	worldEffectorCallback (const geometry_msgs::Transform::ConstPtr &trans)
	callback corresponding to the world->effector topic.
Private Attributes
ros::Subscriber	camera_object_subscriber_
image_proc::AdvertisementChecker	check_inputs_
std::vector< vpHomogeneousMatrix >	cMo_vec_
ros::ServiceServer	compute_effector_camera_quick_service_
ros::ServiceServer	compute_effector_camera_service_
ros::NodeHandle	n_
unsigned int	queue_size_
ros::ServiceServer	reset_service_
std::vector< vpHomogeneousMatrix >	wMe_vec_
ros::Subscriber	world_effector_subscriber_

Detailed Description

Definition at line 67 of file calibrator.h.

Member Typedef Documentation

typedef boost::function<void (const geometry_msgs::Transform::ConstPtr& )> visp_hand2eye_calibration::Calibrator::camera_object_subscriber_callback_t

subscriber type declaration for camera->object topic subscriber

Definition at line 137 of file calibrator.h.

typedef boost::function<bool (visp_hand2eye_calibration::compute_effector_camera_quick::Request&,visp_hand2eye_calibration::compute_effector_camera_quick::Response& res)> visp_hand2eye_calibration::Calibrator::compute_effector_camera_quick_service_callback_t

service type declaration for quick effector->camera computation service

Definition at line 130 of file calibrator.h.

typedef boost::function<bool (visp_hand2eye_calibration::compute_effector_camera::Request&,visp_hand2eye_calibration::compute_effector_camera::Response& res)> visp_hand2eye_calibration::Calibrator::compute_effector_camera_service_callback_t

service type declaration for effector->camera computation service

Definition at line 127 of file calibrator.h.

typedef boost::function<bool (visp_hand2eye_calibration::reset::Request&,visp_hand2eye_calibration::reset::Response& res)> visp_hand2eye_calibration::Calibrator::reset_service_callback_t

service type declaration for reset service

Definition at line 133 of file calibrator.h.

typedef boost::function<void (const geometry_msgs::Transform::ConstPtr& trans)> visp_hand2eye_calibration::Calibrator::world_effector_subscriber_t

subscriber type declaration for world->effector topic subscriber

Definition at line 140 of file calibrator.h.

Constructor & Destructor Documentation

visp_hand2eye_calibration::Calibrator::Calibrator ( )

advertises services and subscribes to topics

Definition at line 139 of file calibrator.cpp.

visp_hand2eye_calibration::Calibrator::~Calibrator ( )

Definition at line 184 of file calibrator.cpp.

Member Function Documentation

void visp_hand2eye_calibration::Calibrator::cameraObjectCallback ( const geometry_msgs::Transform::ConstPtr & trans ) [private]

callback corresponding to the camera->object topic.

Adds a geometry_msgs::Transform to the internal queue. A service may compute the calibration on all recieved elements later.

Parameters:

trans,: camera->object transformation

Definition at line 59 of file calibrator.cpp.

bool visp_hand2eye_calibration::Calibrator::computeEffectorCameraCallback	(	visp_hand2eye_calibration::compute_effector_camera::Request &	req,
		visp_hand2eye_calibration::compute_effector_camera::Response &	res
	)		`[private]`

service computing world->effector transformation from accumulated data.

The service expects the number of recorded camera->object transformation to be equal to the number of recorded world->effector transformations. If it is not equal, the service fails.

Definition at line 75 of file calibrator.cpp.

bool visp_hand2eye_calibration::Calibrator::computeEffectorCameraQuickCallback	(	visp_hand2eye_calibration::compute_effector_camera_quick::Request &	req,
		visp_hand2eye_calibration::compute_effector_camera_quick::Response &	res
	)		`[private]`

service computing world->effector transformation from parameter-passed data.

The service expects the number of recorded camera->object transformation to be equal to the number of recorded world->effector transformations. If it is not equal, the service fails.

Definition at line 99 of file calibrator.cpp.

bool visp_hand2eye_calibration::Calibrator::resetCallback	(	visp_hand2eye_calibration::reset::Request &	req,
		visp_hand2eye_calibration::reset::Response &	res
	)		`[private]`