Public Member Functions | Private Member Functions | Private Attributes
rail::pick_and_place::MetricTrainer Class Reference

The metric trainer node object. More...

#include <MetricTrainer.h>

List of all members.

Public Member Functions

 MetricTrainer ()
 Creates a new MetricTrainer.
bool okay () const
 A check for a valid MetricTrainer.
virtual ~MetricTrainer ()
 Cleans up a MetricTrainer.

Private Member Functions

void trainMetricsCallback (const rail_pick_and_place_msgs::TrainMetricsGoalConstPtr &goal)
 The train metrics action server callback.

Private Attributes

ros::Publisher aligned_pc_pub_
actionlib::SimpleActionServer
< rail_pick_and_place_msgs::TrainMetricsAction > 
as_
ros::Publisher base_pc_pub_
actionlib::SimpleActionClient
< rail_pick_and_place_msgs::GetYesNoFeedbackAction > 
get_yes_and_no_feedback_ac_
graspdb::Clientgraspdb_
ros::NodeHandle node_
bool okay_
ros::NodeHandle private_node_

Detailed Description

The metric trainer node object.

The metric trainer allows for generating data sets for training registration metric decision trees. An action server is used to provide the object name and files are dumped to "registration_metrics.txt".

Definition at line 36 of file MetricTrainer.h.


Constructor & Destructor Documentation

Creates a new MetricTrainer.

Creates a new MetricTrainer with the associated topics and action servers.

Definition at line 23 of file MetricTrainer.cpp.

Cleans up a MetricTrainer.

Cleans up any connections used by the MetricTrainer.

Definition at line 57 of file MetricTrainer.cpp.


Member Function Documentation

bool MetricTrainer::okay ( ) const

A check for a valid MetricTrainer.

This function will return true if the appropriate connections were created successfully during initialization.

Returns:
True if the appropriate connections were created successfully during initialization.

Definition at line 65 of file MetricTrainer.cpp.

void MetricTrainer::trainMetricsCallback ( const rail_pick_and_place_msgs::TrainMetricsGoalConstPtr &  goal) [private]

The train metrics action server callback.

This function starts by loading any grasps with the object name from the goal. All pairs of grasps are joined and published to two different point cloud topics (~/base_pc and ~/aligned_pc). User feedback is requested via an action client call to ~/get_yes_no_feedback. The metrics and the responses are recoreded in the data file.

Parameters:
goalThe goal specifying the object name.

Definition at line 70 of file MetricTrainer.cpp.


Member Data Documentation

Definition at line 82 of file MetricTrainer.h.

actionlib::SimpleActionServer<rail_pick_and_place_msgs::TrainMetricsAction> rail::pick_and_place::MetricTrainer::as_ [private]

The train metrics action server.

Definition at line 84 of file MetricTrainer.h.

The point cloud publishers.

Definition at line 82 of file MetricTrainer.h.

actionlib::SimpleActionClient<rail_pick_and_place_msgs::GetYesNoFeedbackAction> rail::pick_and_place::MetricTrainer::get_yes_and_no_feedback_ac_ [private]

The user feedback action client.

Definition at line 86 of file MetricTrainer.h.

The grasp database connection.

Definition at line 77 of file MetricTrainer.h.

The public and private ROS node handles.

Definition at line 80 of file MetricTrainer.h.

The okay check flag.

Definition at line 75 of file MetricTrainer.h.

Definition at line 80 of file MetricTrainer.h.


The documentation for this class was generated from the following files:


rail_recognition
Author(s): David Kent , Russell Toris , bhetherman
autogenerated on Thu Jun 6 2019 19:44:08