moveit_simple_actions::ObjProcessor Class Reference

Class for processing objects recognized by ORK. More...

#include <objprocessing.hpp>

List of all members.

Public Member Functions
void	addBlock (const MetaBlock &block)
	add a new object to the end
void	cleanObjects (const bool list_erase=true)
	clean the list of objects based on the timestamp
int	getAmountOfBlocks ()
	get amount of objects
MetaBlock *	getBlock (const int &id)
	get an object by id
void	getRecognizedObjects (const RecognizedObjArray::ConstPtr &msg)
	convert object recognition messages into collision objects
	ObjProcessor (ros::NodeHandle *nh, Evaluation *evaluation)
	constructor
bool	triggerObjectDetection ()
	trigger object detection client
Public Attributes
ros::Publisher	pub_obj_poses_
Protected Member Functions
bool	getMeshFromDB (GetObjInfo &obj_info)
	get the object's mesh from the DB
void	publishAllCollObj (std::vector< MetaBlock > *blocks)
	publish all collision objects in MoveIt
Protected Attributes
std::vector< MetaBlock >	blocks_
moveit::planning_interface::PlanningSceneInterface	current_scene_
Evaluation *	evaluation_
bool	found_obj_reco_client_
bool	found_srv_obj_info_
ros::ServiceClient	get_model_mesh_srv_
tf::TransformListener	listener_
geometry_msgs::PoseArray	msg_obj_poses_
	all objects positions
ros::NodeHandle *	nh_
boost::scoped_ptr < ObjRecoActionClient >	obj_reco_client_
const std::string	OBJECT_RECOGNITION_ACTION
ros::Subscriber	object_sub_
std::string	object_topic_
std::string	target_frame_

---

Detailed Description

Class for processing objects recognized by ORK.

Definition at line 45 of file objprocessing.hpp.

---

Constructor & Destructor Documentation

moveit_simple_actions::ObjProcessor::ObjProcessor	(	ros::NodeHandle *	nh,
		Evaluation *	evaluation
	)

constructor

Definition at line 28 of file objprocessing.cpp.

---

Member Function Documentation

void moveit_simple_actions::ObjProcessor::addBlock

(

const MetaBlock &

block

)

add a new object to the end

Definition at line 251 of file objprocessing.cpp.

void moveit_simple_actions::ObjProcessor::cleanObjects

(

const bool

list_erase = true

)

clean the list of objects based on the timestamp

Definition at line 259 of file objprocessing.cpp.

int moveit_simple_actions::ObjProcessor::getAmountOfBlocks

(

)

[inline]

get amount of objects

Definition at line 59 of file objprocessing.hpp.

MetaBlock * moveit_simple_actions::ObjProcessor::getBlock

(

const int &

id

)

get an object by id

Definition at line 243 of file objprocessing.cpp.

bool moveit_simple_actions::ObjProcessor::getMeshFromDB

(

GetObjInfo &

obj_info

)

[protected]

get the object's mesh from the DB

Definition at line 114 of file objprocessing.cpp.

void moveit_simple_actions::ObjProcessor::getRecognizedObjects

(

const RecognizedObjArray::ConstPtr &

msg

)

convert object recognition messages into collision objects

Definition at line 127 of file objprocessing.cpp.

void moveit_simple_actions::ObjProcessor::publishAllCollObj

(

std::vector< MetaBlock > *

blocks

)

[protected]

publish all collision objects in MoveIt

Definition at line 228 of file objprocessing.cpp.

bool moveit_simple_actions::ObjProcessor::triggerObjectDetection

(

)

trigger object detection client

Definition at line 68 of file objprocessing.cpp.

---

Member Data Documentation

std::vector<MetaBlock> moveit_simple_actions::ObjProcessor::blocks_ [protected]

set of available objects

Definition at line 120 of file objprocessing.hpp.

moveit::planning_interface::PlanningSceneInterface moveit_simple_actions::ObjProcessor::current_scene_ [protected]

current MoveIt scene

Definition at line 117 of file objprocessing.hpp.

Evaluation* moveit_simple_actions::ObjProcessor::evaluation_ [protected]

evaluation of reaching/grasping

Definition at line 87 of file objprocessing.hpp.

bool moveit_simple_actions::ObjProcessor::found_obj_reco_client_ [protected]

if found object recognition server

Definition at line 108 of file objprocessing.hpp.

bool moveit_simple_actions::ObjProcessor::found_srv_obj_info_ [protected]

if found object info server

Definition at line 99 of file objprocessing.hpp.

ros::ServiceClient moveit_simple_actions::ObjProcessor::get_model_mesh_srv_ [protected]

Client for getting the mesh for a database object

Definition at line 102 of file objprocessing.hpp.

tf::TransformListener moveit_simple_actions::ObjProcessor::listener_ [protected]

transform listener

Definition at line 114 of file objprocessing.hpp.

geometry_msgs::PoseArray moveit_simple_actions::ObjProcessor::msg_obj_poses_ [protected]

all objects positions

Definition at line 123 of file objprocessing.hpp.

ros::NodeHandle* moveit_simple_actions::ObjProcessor::nh_ [protected]

node handle

Definition at line 84 of file objprocessing.hpp.

boost::scoped_ptr<ObjRecoActionClient> moveit_simple_actions::ObjProcessor::obj_reco_client_ [protected]

object recognition client

Definition at line 105 of file objprocessing.hpp.

const std::string moveit_simple_actions::ObjProcessor::OBJECT_RECOGNITION_ACTION [protected]

object recognition action

Definition at line 90 of file objprocessing.hpp.

ros::Subscriber moveit_simple_actions::ObjProcessor::object_sub_ [protected]

subscriber to object recognition topic

Definition at line 111 of file objprocessing.hpp.

std::string moveit_simple_actions::ObjProcessor::object_topic_ [protected]

recognized object topic

Definition at line 96 of file objprocessing.hpp.

ros::Publisher moveit_simple_actions::ObjProcessor::pub_obj_poses_

publisher of objects' poses

Definition at line 74 of file objprocessing.hpp.

std::string moveit_simple_actions::ObjProcessor::target_frame_ [protected]

final object frame

Definition at line 93 of file objprocessing.hpp.

---

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

• objprocessing.hpp
• objprocessing.cpp