#include <world.h>

Public Member Functions
void	update ()
	World (ros::NodeHandle n, ros::NodeHandle pn, const std::string grasp_suggestion_service, const std::string &segmentation_service_name, const std::string &segmented_objects_topic_name, const std::string &segmented_table_topic_name, const std::string &planning_scene_topic, const float &obj_similar_distance_threshold, const float &obj_add_distance_threshold, const float &obj_nearest_distance_threshold, const float &obj_distance_zero_clamp, const float &text_h, const float &surface_h, const float &text_off, const std::string &base_frame_name)
	~World ()
Private Member Functions
void	addGrasp (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
bool	addNewObject (geometry_msgs::Pose pose, geometry_msgs::Vector3 dimensions, sensor_msgs::PointCloud2 point_cloud)
void	addSurfaceToPlanningScene (geometry_msgs::Pose pose, geometry_msgs::Vector3 dimensions)
void	clearObjects ()
bool	clearObjectsCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
void	getBoundingBox (sensor_msgs::PointCloud2 pc2, geometry_msgs::Vector3 dimensions, geometry_msgs::Pose pose)
bool	getMostSimilarObjectCallback (fetch_pbd_interaction::GetMostSimilarObject::Request &req, fetch_pbd_interaction::GetMostSimilarObject::Response &res)
bool	getNearestObjectCallback (fetch_pbd_interaction::GetNearestObject::Request &req, fetch_pbd_interaction::GetNearestObject::Response &resp)
bool	getObjectFromNameCallback (fetch_pbd_interaction::GetObjectFromName::Request &req, fetch_pbd_interaction::GetObjectFromName::Response &resp)
std::vector < fetch_pbd_interaction::Landmark >	getObjectList ()
bool	getObjectListCallback (fetch_pbd_interaction::GetObjectList::Request &req, fetch_pbd_interaction::GetObjectList::Response &resp)
visualization_msgs::InteractiveMarker	getObjectMarker (int index)
visualization_msgs::InteractiveMarker	getSurfaceMarker (geometry_msgs::Pose pose, geometry_msgs::Vector3 dimensions)
bool	hasObjects ()
void	markerFeedbackCallback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	objectsUpdateCallback (const rail_manipulation_msgs::SegmentedObjectListConstPtr &msg)
void	publishTfPose (geometry_msgs::Pose pose, std::string name, std::string parent)
void	recordObjectPose ()
void	removeObject (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	removeSurfaceFromPlanningScene ()
void	removeSurfaceMarker ()
void	resetObjects ()
void	tablePositionUpdateCallback (const rail_manipulation_msgs::SegmentedObjectPtr &msg)
bool	updateWorldCallback (fetch_pbd_interaction::GetObjectList::Request &req, fetch_pbd_interaction::GetObjectList::Response &resp)
void	worldChanged ()
Static Private Member Functions
static float	objectDissimilarity (fetch_pbd_interaction::Landmark obj1, fetch_pbd_interaction::Landmark obj2)
static void	pc2ToMarker (sensor_msgs::PointCloud2 pc2, int index, ros::Duration duration, std::string output_frame, visualization_msgs::Marker pc2_marker_points, visualization_msgs::Marker pc2_marker_sphere_list)
static float	poseDistance (geometry_msgs::Pose pose1, geometry_msgs::Pose pose2, bool is_on_table=true)
Private Attributes
ros::Publisher	add_grasp_pub
std::string	base_frame
ros::ServiceServer	clear_world_objects_service
std_msgs::ColorRGBA	color_obj
std_msgs::ColorRGBA	color_surface
std_msgs::ColorRGBA	color_text
bool	has_surface
interactive_markers::InteractiveMarkerServer	im_server
ros::Duration	marker_duration
interactive_markers::MenuHandler	menu_handler
boost::mutex	mutex
ros::ServiceServer	nearest_object_service
float	obj_add_dist_threshold
float	obj_dist_zero_clamp
float	obj_nearest_dist_threshold
float	obj_similar_dist_threshold
ros::ServiceServer	object_from_name_service
ros::ServiceServer	object_list_service
ros::Subscriber	object_subscriber
std::vector < fetch_pbd_interaction::WorldLandmark >	objects
ros::Publisher	planning_scene_diff_publisher
geometry_msgs::Vector3	scale_text
ros::ServiceClient	segmentation_service_client
std::string	segmented_objects_topic
ros::ServiceServer	similar_object_service
float	surface_height
ros::Subscriber	table_subscriber
float	text_height
float	text_offset
tf::TransformBroadcaster	tf_broadcaster
tf::TransformListener	tf_listener
ros::ServiceServer	update_world_service
ros::Publisher	world_update_pub

Detailed Description

Definition at line 88 of file world.h.

Constructor & Destructor Documentation

fetch_pbd_interaction::World::World	(	ros::NodeHandle	n,
		ros::NodeHandle	pn,
		const std::string	grasp_suggestion_service,
		const std::string &	segmentation_service_name,
		const std::string &	segmented_objects_topic_name,
		const std::string &	segmented_table_topic_name,
		const std::string &	planning_scene_topic,
		const float &	obj_similar_distance_threshold,
		const float &	obj_add_distance_threshold,
		const float &	obj_nearest_distance_threshold,
		const float &	obj_distance_zero_clamp,
		const float &	text_h,
		const float &	surface_h,
		const float &	text_off,
		const std::string &	base_frame_name
	)

Definition at line 5 of file world.cpp.

fetch_pbd_interaction::World::~World ( )

Definition at line 80 of file world.cpp.

Member Function Documentation

void fetch_pbd_interaction::World::addGrasp ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [private]

Definition at line 670 of file world.cpp.

bool fetch_pbd_interaction::World::addNewObject	(	geometry_msgs::Pose	pose,
		geometry_msgs::Vector3	dimensions,
		sensor_msgs::PointCloud2	point_cloud
	)		`[private]`

Definition at line 521 of file world.cpp.

void fetch_pbd_interaction::World::addSurfaceToPlanningScene	(	geometry_msgs::Pose	pose,
		geometry_msgs::Vector3	dimensions
	)		`[private]`

Definition at line 594 of file world.cpp.

void fetch_pbd_interaction::World::clearObjects ( ) [private]

Definition at line 459 of file world.cpp.

bool fetch_pbd_interaction::World::clearObjectsCallback	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)		`[private]`

Definition at line 453 of file world.cpp.

void fetch_pbd_interaction::World::getBoundingBox	(	sensor_msgs::PointCloud2	pc2,
		geometry_msgs::Vector3 *	dimensions,
		geometry_msgs::Pose *	pose
	)		`[private]`

Definition at line 338 of file world.cpp.

bool fetch_pbd_interaction::World::getMostSimilarObjectCallback	(	fetch_pbd_interaction::GetMostSimilarObject::Request &	req,
		fetch_pbd_interaction::GetMostSimilarObject::Response &	res
	)		`[private]`

Definition at line 224 of file world.cpp.

bool fetch_pbd_interaction::World::getNearestObjectCallback	(	fetch_pbd_interaction::GetNearestObject::Request &	req,
		fetch_pbd_interaction::GetNearestObject::Response &	resp
	)		`[private]`

Definition at line 467 of file world.cpp.

bool fetch_pbd_interaction::World::getObjectFromNameCallback	(	fetch_pbd_interaction::GetObjectFromName::Request &	req,
		fetch_pbd_interaction::GetObjectFromName::Response &	resp
	)		`[private]`

Definition at line 273 of file world.cpp.

std::vector< fetch_pbd_interaction::Landmark > fetch_pbd_interaction::World::getObjectList ( ) [private]

Definition at line 213 of file world.cpp.

bool fetch_pbd_interaction::World::getObjectListCallback	(	fetch_pbd_interaction::GetObjectList::Request &	req,
		fetch_pbd_interaction::GetObjectList::Response &	resp
	)		`[private]`

Definition at line 259 of file world.cpp.

visualization_msgs::InteractiveMarker fetch_pbd_interaction::World::getObjectMarker ( int index ) [private]

Definition at line 556 of file world.cpp.

visualization_msgs::InteractiveMarker fetch_pbd_interaction::World::getSurfaceMarker	(	geometry_msgs::Pose	pose,
		geometry_msgs::Vector3	dimensions
	)		`[private]`

Definition at line 183 of file world.cpp.

bool fetch_pbd_interaction::World::hasObjects ( ) [private]

Definition at line 287 of file world.cpp.

void fetch_pbd_interaction::World::markerFeedbackCallback ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [private]

Definition at line 499 of file world.cpp.

float fetch_pbd_interaction::World::objectDissimilarity	(	fetch_pbd_interaction::Landmark	obj1,
		fetch_pbd_interaction::Landmark	obj2
	)		`[static, private]`

Definition at line 160 of file world.cpp.

void fetch_pbd_interaction::World::objectsUpdateCallback ( const rail_manipulation_msgs::SegmentedObjectListConstPtr & msg ) [private]

Definition at line 311 of file world.cpp.

void fetch_pbd_interaction::World::pc2ToMarker	(	sensor_msgs::PointCloud2	pc2,
		int	index,
		ros::Duration	duration,
		std::string	output_frame,
		visualization_msgs::Marker *	pc2_marker_points,
		visualization_msgs::Marker *	pc2_marker_sphere_list
	)		`[static, private]`

Definition at line 96 of file world.cpp.

float fetch_pbd_interaction::World::poseDistance	(	geometry_msgs::Pose	pose1,
		geometry_msgs::Pose	pose2,
		bool	is_on_table = `true`
	)		`[static, private]`

Definition at line 170 of file world.cpp.

void fetch_pbd_interaction::World::publishTfPose	(	geometry_msgs::Pose	pose,
		std::string	name,
		std::string	parent
	)		`[private]`

Definition at line 636 of file world.cpp.

void fetch_pbd_interaction::World::recordObjectPose ( ) [private]

Definition at line 296 of file world.cpp.

void fetch_pbd_interaction::World::removeObject ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [private]

Definition at line 653 of file world.cpp.

void fetch_pbd_interaction::World::removeSurfaceFromPlanningScene ( ) [private]

Definition at line 621 of file world.cpp.

void fetch_pbd_interaction::World::removeSurfaceMarker ( ) [private]

Definition at line 549 of file world.cpp.

void fetch_pbd_interaction::World::resetObjects ( ) [private]

Definition at line 504 of file world.cpp.

void fetch_pbd_interaction::World::tablePositionUpdateCallback ( const rail_manipulation_msgs::SegmentedObjectPtr & msg ) [private]

Definition at line 421 of file world.cpp.

void fetch_pbd_interaction::World::update ( void )

Definition at line 83 of file world.cpp.

bool fetch_pbd_interaction::World::updateWorldCallback	(	fetch_pbd_interaction::GetObjectList::Request &	req,
		fetch_pbd_interaction::GetObjectList::Response &	resp
	)		`[private]`