moveit_simple_actions::MetaBlock Class Reference

Class for working with collision objects. More...

#include <metablock.hpp>

List of all members.

Public Member Functions
tf::Stamped< tf::Pose >	getTransform (tf::TransformListener *listener, const std::string &frame)
	get the transform to base_link
geometry_msgs::PoseStamped	getTransformed (tf::TransformListener *listener, const std::string &frame)
	get the transform to base_link
	MetaBlock (const std::string name, const geometry_msgs::Pose pose, const uint &shapeType, const float &size_x, const float &size_y, const float &size_z, ros::Time timestamp=ros::Time::now(), std::string base_frame="base_link")
	shape-based constructor
	MetaBlock (const std::string name, const geometry_msgs::Pose pose, const shape_msgs::Mesh mesh, const object_recognition_msgs::ObjectType type, ros::Time timestamp=ros::Time::now(), std::string base_frame="odom")
	mesh-based constructor
void	publishBlock (mscene *current_scene)
	publish the collision object
void	removeBlock (mscene *current_scene)
	remove the collision object
void	updatePose (const geometry_msgs::Pose &pose)
	update the object pose
void	updatePose (mscene *current_scene, const geometry_msgs::Pose &pose)
	update the pose and publish
void	updatePoseVis (const geometry_msgs::Pose &pose)
	update the object's pose visually only
Public Attributes
std::string	base_frame_
moveit_msgs::CollisionObject	collObj_
geometry_msgs::Pose	goal_pose_
std::string	name_
geometry_msgs::Pose	pose_
double	size_x_
double	size_y_
double	size_z_
ros::Time	timestamp_
object_recognition_msgs::ObjectType	type_
Protected Attributes
shape_msgs::Mesh	mesh_
shape_msgs::SolidPrimitive	shape_

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Detailed Description

Class for working with collision objects.

Definition at line 43 of file metablock.hpp.

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Constructor & Destructor Documentation

moveit_simple_actions::MetaBlock::MetaBlock	(	const std::string	name,
		const geometry_msgs::Pose	pose,
		const uint &	shapeType,
		const float &	size_x,
		const float &	size_y,
		const float &	size_z,
		ros::Time	timestamp = ros::Time::now(),
		std::string	base_frame = "base_link"
	)

shape-based constructor

Definition at line 26 of file metablock.cpp.

moveit_simple_actions::MetaBlock::MetaBlock	(	const std::string	name,
		const geometry_msgs::Pose	pose,
		const shape_msgs::Mesh	mesh,
		const object_recognition_msgs::ObjectType	type,
		ros::Time	timestamp = ros::Time::now(),
		std::string	base_frame = "odom"
	)

mesh-based constructor

Definition at line 82 of file metablock.cpp.

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Member Function Documentation

tf::Stamped< tf::Pose > moveit_simple_actions::MetaBlock::getTransform	(	tf::TransformListener *	listener,
		const std::string &	frame
	)

get the transform to base_link

Definition at line 164 of file metablock.cpp.

geometry_msgs::PoseStamped moveit_simple_actions::MetaBlock::getTransformed	(	tf::TransformListener *	listener,
		const std::string &	frame
	)

get the transform to base_link

Definition at line 198 of file metablock.cpp.

void moveit_simple_actions::MetaBlock::publishBlock

(

mscene *

current_scene

)

publish the collision object

Definition at line 144 of file metablock.cpp.

void moveit_simple_actions::MetaBlock::removeBlock

(

mscene *

current_scene

)

remove the collision object

Definition at line 135 of file metablock.cpp.

void moveit_simple_actions::MetaBlock::updatePose

(

const geometry_msgs::Pose &

pose

)

update the object pose

Definition at line 122 of file metablock.cpp.

void moveit_simple_actions::MetaBlock::updatePose	(	mscene *	current_scene,
		const geometry_msgs::Pose &	pose
	)

update the pose and publish

Definition at line 152 of file metablock.cpp.

void moveit_simple_actions::MetaBlock::updatePoseVis

(

const geometry_msgs::Pose &

pose

)

update the object's pose visually only

Definition at line 129 of file metablock.cpp.

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Member Data Documentation

std::string moveit_simple_actions::MetaBlock::base_frame_

the base frame

Definition at line 113 of file metablock.hpp.

moveit_msgs::CollisionObject moveit_simple_actions::MetaBlock::collObj_

corresponding collision object

Definition at line 98 of file metablock.hpp.

geometry_msgs::Pose moveit_simple_actions::MetaBlock::goal_pose_

the goal position

Definition at line 95 of file metablock.hpp.

shape_msgs::Mesh moveit_simple_actions::MetaBlock::mesh_ [protected]

the object's mesh

Definition at line 123 of file metablock.hpp.

std::string moveit_simple_actions::MetaBlock::name_

object name

Definition at line 89 of file metablock.hpp.

geometry_msgs::Pose moveit_simple_actions::MetaBlock::pose_

the current position

Definition at line 92 of file metablock.hpp.

shape_msgs::SolidPrimitive moveit_simple_actions::MetaBlock::shape_ [protected]

the object's shape

Definition at line 120 of file metablock.hpp.

double moveit_simple_actions::MetaBlock::size_x_

x dimenssion

Definition at line 101 of file metablock.hpp.

double moveit_simple_actions::MetaBlock::size_y_

y dimenssion

Definition at line 104 of file metablock.hpp.

double moveit_simple_actions::MetaBlock::size_z_

z dimenssion

Definition at line 107 of file metablock.hpp.

ros::Time moveit_simple_actions::MetaBlock::timestamp_

timestamp of creation

Definition at line 110 of file metablock.hpp.

object_recognition_msgs::ObjectType moveit_simple_actions::MetaBlock::type_

corresponding object type in DB

Definition at line 116 of file metablock.hpp.

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

• metablock.hpp
• metablock.cpp