#include <snapit.h>

Public Types
typedef message_filters::sync_policies::ExactTime < jsk_recognition_msgs::PolygonArray, jsk_recognition_msgs::ModelCoefficientsArray >	SyncPolygonPolicy
Public Member Functions
	SnapIt ()
Protected Member Functions
virtual geometry_msgs::PoseStamped	alignPose (Eigen::Affine3f &pose, jsk_recognition_utils::ConvexPolygon::Ptr convex)
virtual void	convexAlignCallback (const geometry_msgs::PoseStamped::ConstPtr &pose_msg)
virtual void	convexAlignPolygonCallback (const geometry_msgs::PolygonStamped::ConstPtr &poly_msg)
virtual std::vector < jsk_recognition_utils::ConvexPolygon::Ptr >	createConvexes (const std::string &frame_id, const ros::Time &stamp, jsk_recognition_msgs::PolygonArray::ConstPtr polygons)
virtual int	findNearestConvex (const Eigen::Vector3f &pose_point, const std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > &convexes)
virtual bool	footstepAlignServiceCallback (jsk_recognition_msgs::SnapFootstep::Request &req, jsk_recognition_msgs::SnapFootstep::Response &res)
virtual void	onInit ()
virtual void	polygonAlignCallback (const geometry_msgs::PoseStamped::ConstPtr &pose_msg)
virtual void	polygonCallback (const jsk_recognition_msgs::PolygonArray::ConstPtr &polygon_msg, const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr &coefficients_msg)
virtual void	subscribe ()
virtual void	unsubscribe ()
Protected Attributes
ros::ServiceServer	align_footstep_srv_
ros::Subscriber	convex_align_polygon_sub_
ros::Subscriber	convex_align_sub_
ros::Publisher	convex_aligned_pose_array_marker_pub_
ros::Publisher	convex_aligned_pose_array_pub_
ros::Publisher	convex_aligned_pub_
boost::mutex	mutex_
ros::Subscriber	polygon_align_sub_
ros::Publisher	polygon_aligned_pub_
jsk_recognition_msgs::PolygonArray::ConstPtr	polygons_
message_filters::Subscriber < jsk_recognition_msgs::ModelCoefficientsArray >	sub_coefficients_
message_filters::Subscriber < jsk_recognition_msgs::PolygonArray >	sub_polygons_
boost::shared_ptr < message_filters::Synchronizer < SyncPolygonPolicy > >	sync_polygon_
tf::TransformListener *	tf_listener_
bool	use_service_

Detailed Description

Definition at line 58 of file snapit.h.

Member Typedef Documentation

typedef message_filters::sync_policies::ExactTime< jsk_recognition_msgs::PolygonArray, jsk_recognition_msgs::ModelCoefficientsArray> jsk_pcl_ros::SnapIt::SyncPolygonPolicy

Definition at line 63 of file snapit.h.

Constructor & Destructor Documentation

jsk_pcl_ros::SnapIt::SnapIt ( ) [inline]

Definition at line 64 of file snapit.h.

Member Function Documentation

geometry_msgs::PoseStamped jsk_pcl_ros::SnapIt::alignPose	(	Eigen::Affine3f &	pose,
		jsk_recognition_utils::ConvexPolygon::Ptr	convex
	)		`[protected, virtual]`

Definition at line 277 of file snapit_nodelet.cpp.

void jsk_pcl_ros::SnapIt::convexAlignCallback ( const geometry_msgs::PoseStamped::ConstPtr & pose_msg ) [protected, virtual]

Definition at line 247 of file snapit_nodelet.cpp.

void jsk_pcl_ros::SnapIt::convexAlignPolygonCallback ( const geometry_msgs::PolygonStamped::ConstPtr & poly_msg ) [protected, virtual]

Definition at line 192 of file snapit_nodelet.cpp.

std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > jsk_pcl_ros::SnapIt::createConvexes	(	const std::string &	frame_id,
		const ros::Time &	stamp,
		jsk_recognition_msgs::PolygonArray::ConstPtr	polygons
	)		`[protected, virtual]`

Definition at line 304 of file snapit_nodelet.cpp.

int jsk_pcl_ros::SnapIt::findNearestConvex	(	const Eigen::Vector3f &	pose_point,
		const std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > &	convexes
	)		`[protected, virtual]`

Definition at line 226 of file snapit_nodelet.cpp.

bool jsk_pcl_ros::SnapIt::footstepAlignServiceCallback	(	jsk_recognition_msgs::SnapFootstep::Request &	req,
		jsk_recognition_msgs::SnapFootstep::Response &	res
	)		`[protected, virtual]`

Definition at line 155 of file snapit_nodelet.cpp.

void jsk_pcl_ros::SnapIt::onInit ( void ) [protected, virtual]

Definition at line 59 of file snapit_nodelet.cpp.

void jsk_pcl_ros::SnapIt::polygonAlignCallback ( const geometry_msgs::PoseStamped::ConstPtr & pose_msg ) [protected, virtual]

Definition at line 116 of file snapit_nodelet.cpp.

void jsk_pcl_ros::SnapIt::polygonCallback	(	const jsk_recognition_msgs::PolygonArray::ConstPtr &	polygon_msg,
		const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr &	coefficients_msg
	)		`[protected, virtual]`