Public Member Functions | Private Attributes
rail::pick_and_place::graspdb::GraspDemonstration Class Reference

A grasp demonstration database entry. More...

#include <GraspDemonstration.h>

Inheritance diagram for rail::pick_and_place::graspdb::GraspDemonstration:
Inheritance graph
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List of all members.

Public Member Functions

const std::string & getEefFrameID () const
 End effector frame ID value accessor.
const PosegetGraspPose () const
 Grasp pose value accessor (immutable).
PosegetGraspPose ()
 Grasp pose value accessor.
const sensor_msgs::Image & getImage () const
 Image accessor (immutable).
sensor_msgs::Image & getImage ()
 Image accessor.
const std::string & getObjectName () const
 Object name value accessor.
const sensor_msgs::PointCloud2 & getPointCloud () const
 Point cloud accessor (immutable).
sensor_msgs::PointCloud2 & getPointCloud ()
 Point cloud accessor.
 GraspDemonstration (const uint32_t id=Entity::UNSET_ID, const std::string &object_name="", const Pose &grasp_pose=Pose(), const std::string &eef_frame_id="", const sensor_msgs::PointCloud2 &point_cloud=sensor_msgs::PointCloud2(), const sensor_msgs::Image &image=sensor_msgs::Image(), const time_t created=Entity::UNSET_TIME)
 Create a new GraspDemonstration.
 GraspDemonstration (const std::string &object_name, const Pose &grasp_pose, const std::string &eef_frame_id, const sensor_msgs::PointCloud2 &point_cloud, const sensor_msgs::Image &image)
 Create a new GraspDemonstration.
 GraspDemonstration (const rail_pick_and_place_msgs::GraspDemonstration &gd)
 Create a new GraspDemonstration.
void setEefFrameID (const std::string &eef_frame_id)
 End effector frame ID value mutator.
void setGraspPose (const Pose &grasp_pose)
 Grasp pose value mutator.
void setImage (const sensor_msgs::Image &image)
 Image mutator.
void setObjectName (const std::string &object_name)
 Object name value mutator.
void setPointCloud (const sensor_msgs::PointCloud2 &point_cloud)
 Point cloud mutator.
rail_pick_and_place_msgs::GraspDemonstration toROSGraspDemonstrationMessage () const

Private Attributes

std::string eef_frame_id_
Pose grasp_pose_
sensor_msgs::Image image_
std::string object_name_
sensor_msgs::PointCloud2 point_cloud_

Detailed Description

A grasp demonstration database entry.

A grasp demonstration contains information about a single grasp demonstration in the grasp database. This contains information about the grasp pose, end effector frame identifier, object name, and serialized segmented point cloud. A valid database entity has an ID and created timestamp. This class is useful for internal data management within the graspdb library. Convenience functions are added for use with ROS messages.

Definition at line 45 of file GraspDemonstration.h.


Constructor & Destructor Documentation

rail::pick_and_place::graspdb::GraspDemonstration::GraspDemonstration ( const uint32_t  id = Entity::UNSET_ID,
const std::string &  object_name = "",
const Pose grasp_pose = Pose(),
const std::string &  eef_frame_id = "",
const sensor_msgs::PointCloud2 &  point_cloud = sensor_msgs::PointCloud2(),
const sensor_msgs::Image &  image = sensor_msgs::Image(),
const time_t  created = Entity::UNSET_TIME 
)

Create a new GraspDemonstration.

Creates a new GraspDemonstration with the given values. This constructor assumes a valid ID and timestamp are known.

Parameters:
idThe unique ID of the database entry (defaults to 0).
object_nameThe name of the object grasped (defaults to the empty string).
grasp_poseThe pose of the grasp (defaults to an empty Pose).
eef_frame_idThe frame identifier for the end effector used (defaults to the empty string).
point_cloudThe ROS sensor_msgs/PointCloud2 message of the segmented object (defaults to empty values).
imageThe ROS sensor_msgs/Image message of the segmented object (defaults to empty values).
createdThe created timestamp (defaults to 0).
rail::pick_and_place::graspdb::GraspDemonstration::GraspDemonstration ( const std::string &  object_name,
const Pose grasp_pose,
const std::string &  eef_frame_id,
const sensor_msgs::PointCloud2 &  point_cloud,
const sensor_msgs::Image &  image 
)

Create a new GraspDemonstration.

Creates a new GraspDemonstration with the given values. This constructor assumes no valid ID and timestamp are known (e.g., for use when inserting into the database).

Parameters:
object_nameThe name of the object grasped.
grasp_poseThe pose of the grasp.
eef_frame_idThe frame identifier for the end effector used.
point_cloudThe ROS sensor_msgs/PointCloud2 message of the segmented object.
imageThe ROS sensor_msgs/Image message of the segmented object.
GraspDemonstration::GraspDemonstration ( const rail_pick_and_place_msgs::GraspDemonstration &  gd)

Create a new GraspDemonstration.

Creates a new GraspDemonstration with the given values the ROS message.

Parameters:
gdThe ROS grasp demonstration message to extract values from.

Definition at line 36 of file GraspDemonstration.cpp.


Member Function Documentation

const string & GraspDemonstration::getEefFrameID ( ) const

End effector frame ID value accessor.

Get the end effector frame ID value of this GraspDemonstration.

Returns:
The end effector frame ID value.

Definition at line 68 of file GraspDemonstration.cpp.

Grasp pose value accessor (immutable).

Get the grasp pose value of this GraspDemonstration.

Returns:
The grasp pose value.

Definition at line 53 of file GraspDemonstration.cpp.

Grasp pose value accessor.

Get the grasp pose value of this GraspDemonstration.

Returns:
The grasp pose value.

Definition at line 58 of file GraspDemonstration.cpp.

const sensor_msgs::Image & GraspDemonstration::getImage ( ) const

Image accessor (immutable).

Get the image message.

Returns:
The image message.

Definition at line 93 of file GraspDemonstration.cpp.

sensor_msgs::Image & GraspDemonstration::getImage ( )

Image accessor.

Get the image message.

Returns:
The image message.

Definition at line 98 of file GraspDemonstration.cpp.

const string & GraspDemonstration::getObjectName ( ) const

Object name value accessor.

Get the object name value of this GraspDemonstration.

Returns:
The object name value.

Definition at line 43 of file GraspDemonstration.cpp.

const sensor_msgs::PointCloud2 & GraspDemonstration::getPointCloud ( ) const

Point cloud accessor (immutable).

Get the point cloud message.

Returns:
The point cloud message.

Definition at line 78 of file GraspDemonstration.cpp.

sensor_msgs::PointCloud2 & GraspDemonstration::getPointCloud ( )

Point cloud accessor.

Get the point cloud message.

Returns:
The point cloud message.

Definition at line 83 of file GraspDemonstration.cpp.

void GraspDemonstration::setEefFrameID ( const std::string &  eef_frame_id)

End effector frame ID value mutator.

Set the end effector frame ID value of this GraspDemonstration.

Parameters:
eef_frame_idThe new object name value.

Definition at line 73 of file GraspDemonstration.cpp.

void GraspDemonstration::setGraspPose ( const Pose grasp_pose)

Grasp pose value mutator.

Set the grasp pose value of this GraspDemonstration.

Parameters:
grasp_poseThe new grasp pose value.

Definition at line 63 of file GraspDemonstration.cpp.

void GraspDemonstration::setImage ( const sensor_msgs::Image &  image)

Image mutator.

Set the image message to the given values based on the ROS message.

Parameters:
imageThe ROS Image message to store.

Definition at line 103 of file GraspDemonstration.cpp.

void GraspDemonstration::setObjectName ( const std::string &  object_name)

Object name value mutator.

Set the object name value of this GraspDemonstration.

Parameters:
object_nameThe new object name value.

Definition at line 48 of file GraspDemonstration.cpp.

void GraspDemonstration::setPointCloud ( const sensor_msgs::PointCloud2 &  point_cloud)

Point cloud mutator.

Set the point cloud message to the given values based on the ROS message.

Parameters:
point_cloudThe ROS PointCloud2 message to store.

Definition at line 88 of file GraspDemonstration.cpp.

rail_pick_and_place_msgs::GraspDemonstration GraspDemonstration::toROSGraspDemonstrationMessage ( ) const

Converts this GraspDemonstration object into a ROS GraspDemonstration message.

Returns:
The ROS GraspDemonstration message with this grasp demonstration data.

Definition at line 108 of file GraspDemonstration.cpp.


Member Data Documentation

Definition at line 217 of file GraspDemonstration.h.

The grasp pose data.

Definition at line 219 of file GraspDemonstration.h.

The RGB image data.

Definition at line 223 of file GraspDemonstration.h.

The name of the object and end effector frame identifier for this demonstration entry.

Definition at line 217 of file GraspDemonstration.h.

The point cloud data.

Definition at line 221 of file GraspDemonstration.h.


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


graspdb
Author(s): Russell Toris
autogenerated on Sun Mar 6 2016 11:38:59