Public Member Functions
void	objectCallback (const rail_segmentation::SegmentedObjectList &list)
	pickAndPlace ()
bool	pickup (rail_pick_and_place_msgs::PickupObject::Request &req, rail_pick_and_place_msgs::PickupObject::Response &res)
bool	pickupSegmented (rail_pick_and_place_msgs::PickupSegmentedObject::Request &req, rail_pick_and_place_msgs::PickupSegmentedObject::Response &res)
Public Attributes
actionlib::SimpleActionClient < wpi_jaco_msgs::HomeArmAction >	acHome
ros::ServiceClient	graspRecognizedClient
ros::NodeHandle	n
rail_segmentation::SegmentedObjectList	objectList
ros::Subscriber	objectSubscriber
ros::ServiceServer	pickupSegmentedServer
ros::ServiceServer	pickupServer
ros::ServiceClient	recognizeAndGraspClient
ros::ServiceClient	segmentClient

Detailed Description

Definition at line 13 of file pick_and_place.h.

Constructor & Destructor Documentation

pickAndPlace::pickAndPlace ( )

Constructor

Definition at line 5 of file pick_and_place.cpp.

void pickAndPlace::objectCallback ( const rail_segmentation::SegmentedObjectList & list )

Callback for segmented object list

Parameters:

objectList the list of segmented objects

Definition at line 108 of file pick_and_place.cpp.

bool pickAndPlace::pickup	(	rail_pick_and_place_msgs::PickupObject::Request &	req,
		rail_pick_and_place_msgs::PickupObject::Response &	res
	)

High level call to recognize and pickup a specified object

Parameters:

req	service request including the name of the object to be picked up
res	service response denoting pickup success as a boolean value

Definition at line 21 of file pick_and_place.cpp.

bool pickAndPlace::pickupSegmented	(	rail_pick_and_place_msgs::PickupSegmentedObject::Request &	req,
		rail_pick_and_place_msgs::PickupSegmentedObject::Response &	res
	)