Public Member Functions | Static Public Member Functions | Private Types | Private Attributes | List of all members
next_best_view::NextBestView Class Reference

NextBestView is a configuration class of the related node. More...

#include <NextBestView.hpp>

Public Member Functions

CameraModelFilterAbstractFactoryPtr createCameraModelFromConfig (int moduleId)
 
HypothesisUpdaterAbstractFactoryPtr createHypothesisUpdaterFromConfig (int moduleId)
 
RatingModuleAbstractFactoryPtr createRatingModuleFromConfig (int moduleId)
 
robot_model_services::RobotModelAbstractFactoryPtr createRobotModelFromConfig (int moduleId)
 
SpaceSamplerAbstractFactoryPtr createSpaceSamplerFromConfig (int moduleId)
 
UnitSphereSamplerAbstractFactoryPtr createSphereSamplerFromConfig (int moduleId)
 
void dynamicReconfigureCallback (asr_next_best_view::DynamicParametersConfig &config, uint32_t level)
 
NextBestViewCalculator & getCalculator ()
 
void getIndicesOutsideFrustum (const ViewportPoint &viewport, Indices &resultIndices)
 
std::map< std::string, std::string > getMeshResources (ObjectPointCloud objectPointCloud)
 
void initialize ()
 
 NextBestView ()
 Creates an instance of the NextBestView class. More...
 
bool processGetNextBestViewServiceCall (asr_next_best_view::GetNextBestView::Request &request, asr_next_best_view::GetNextBestView::Response &response)
 
bool processGetPointCloudServiceCall (asr_next_best_view::GetAttributedPointCloud::Request &request, asr_next_best_view::GetAttributedPointCloud::Response &response)
 
bool processRateViewports (asr_next_best_view::RateViewports::Request &request, asr_next_best_view::RateViewports::Response &response)
 
bool processRemoveObjects (asr_next_best_view::RemoveObjects::Request &request, asr_next_best_view::RemoveObjects::Response &response)
 
bool processResetCalculatorServiceCall (asr_next_best_view::ResetCalculator::Request &request, asr_next_best_view::ResetCalculator::Response &response)
 
bool processSetInitRobotStateServiceCall (asr_next_best_view::SetInitRobotState::Request &request, asr_next_best_view::SetInitRobotState::Response &response)
 
bool processSetPointCloudServiceCall (asr_next_best_view::SetAttributedPointCloud::Request &request, asr_next_best_view::SetAttributedPointCloud::Response &response)
 
bool processTriggerFrustumsAndPointCloudVisualization (asr_next_best_view::TriggerFrustumsAndPointCloudVisualization::Request &request, asr_next_best_view::TriggerFrustumsAndPointCloudVisualization::Response &response)
 
bool processTriggerFrustumVisualization (asr_next_best_view::TriggerFrustumVisualization::Request &request, asr_next_best_view::TriggerFrustumVisualization::Response &response)
 
bool processTriggerOldFrustumVisualization (asr_next_best_view::TriggerFrustumVisualization::Request &request, asr_next_best_view::TriggerFrustumVisualization::Response &response)
 
bool processUpdatePointCloudServiceCall (asr_next_best_view::UpdatePointCloud::Request &request, asr_next_best_view::UpdatePointCloud::Response &response)
 
void publishNewPointCloudVisualization ()
 
void publishPointCloudNormals ()
 
void publishVisualization (ViewportPoint viewport, bool publishFrustum)
 Publishes the Visualization of the NextBestView. More...
 
bool triggerVisualization ()
 
bool triggerVisualization (ViewportPoint viewport)
 
virtual ~NextBestView ()
 

Static Public Member Functions

static void convertObjectPointCloudToAttributedPointCloud (const ObjectPointCloud &pointCloud, asr_msgs::AsrAttributedPointCloud &pointCloudMessage, uint minNumberNormals)
 

Private Types

enum  ConfigLevelType {
  parameterConfig = 0b1 << 0, sphereSamplingConfig = 0b1 << 1, mapHelperConfig = 0b1 << 2, spaceSamplingConfig = (0b1 << 3) | mapHelperConfig,
  cameraModelConfig = (0b1 << 4) | mapHelperConfig, robotModelConfig = (0b1 << 5) | mapHelperConfig, ratingConfig = (0b1 << 6) | robotModelConfig | cameraModelConfig, hypothesisUpdaterConfig = (0b1 << 7) | ratingConfig,
  cropboxFileConfig = 0b1 << 8, worldHelperConfig = mapHelperConfig
}
 

Private Attributes

NextBestViewCalculator mCalculator
 
CameraModelFilterAbstractFactoryPtr mCameraModelFactoryPtr
 
asr_next_best_view::DynamicParametersConfig mConfig
 
uint32_t mConfigLevel
 
ViewportPoint mCurrentCameraViewport
 
bool mCurrentlyPublishingVisualization
 
DebugHelperPtr mDebugHelperPtr
 
dynamic_reconfigure::Server< asr_next_best_view::DynamicParametersConfig > mDynamicReconfigServer
 
bool mFirstRun
 
ros::ServiceServer mGetNextBestViewServiceServer
 
ros::ServiceServer mGetPointCloudServiceServer
 
ros::NodeHandle mGlobalNodeHandle
 
HypothesisUpdaterAbstractFactoryPtr mHypothesisUpdaterFactoryPtr
 
MapHelperPtr mMapHelperPtr
 
ros::NodeHandle mNodeHandle
 
ros::ServiceServer mRateViewportsServer
 
RatingModuleAbstractFactoryPtr mRatingModuleFactoryPtr
 
ros::ServiceServer mRemoveObjectsServer
 
ros::ServiceServer mResetCalculatorServer
 
robot_model_services::RobotModelAbstractFactoryPtr mRobotModelFactoryPtr
 
ros::ServiceServer mSetInitRobotStateServiceServer
 
ros::ServiceServer mSetPointCloudServiceServer
 
bool mShowFrustumMarkerArray
 
bool mShowFrustumPointCloud
 
bool mShowNormals
 
bool mShowPointcloud
 
SpaceSamplerAbstractFactoryPtr mSpaceSampleFactoryPtr
 
UnitSphereSamplerAbstractFactoryPtr mSphereSamplerFactoryPtr
 
ros::ServiceServer mTriggerFrustmsAndPointCloudVisualizationServer
 
ros::ServiceServer mTriggerFrustumVisualizationServer
 
ros::ServiceServer mTriggerOldFrustumVisualizationServer
 
ros::ServiceServer mUpdatePointCloudServiceServer
 
VisualizationHelperPtr mVisHelperPtr
 
boost::shared_ptr< boost::thread > mVisualizationThread
 

Detailed Description

NextBestView is a configuration class of the related node.

NextBestView provides services and publishers for the next_best_view Node and also saves data structures which are needed for node-wide purposes.

Definition at line 97 of file NextBestView.hpp.

Member Enumeration Documentation

enum next_best_view::NextBestView::ConfigLevelType
private
Enumerator
parameterConfig 
sphereSamplingConfig 
mapHelperConfig 
spaceSamplingConfig 
cameraModelConfig 
robotModelConfig 
ratingConfig 
hypothesisUpdaterConfig 
cropboxFileConfig 
worldHelperConfig 

Definition at line 135 of file NextBestView.hpp.

Constructor & Destructor Documentation

next_best_view::NextBestView::NextBestView ( )
inline

Creates an instance of the NextBestView class.

Definition at line 163 of file NextBestView.hpp.

virtual next_best_view::NextBestView::~NextBestView ( )
inlinevirtual

Definition at line 181 of file NextBestView.hpp.

Member Function Documentation

static void next_best_view::NextBestView::convertObjectPointCloudToAttributedPointCloud ( const ObjectPointCloud &  pointCloud,
asr_msgs::AsrAttributedPointCloud &  pointCloudMessage,
uint  minNumberNormals 
)
inlinestatic

Definition at line 635 of file NextBestView.hpp.

CameraModelFilterAbstractFactoryPtr next_best_view::NextBestView::createCameraModelFromConfig ( int  moduleId)
inline

Definition at line 420 of file NextBestView.hpp.

HypothesisUpdaterAbstractFactoryPtr next_best_view::NextBestView::createHypothesisUpdaterFromConfig ( int  moduleId)
inline

Definition at line 494 of file NextBestView.hpp.

RatingModuleAbstractFactoryPtr next_best_view::NextBestView::createRatingModuleFromConfig ( int  moduleId)
inline

Definition at line 468 of file NextBestView.hpp.

robot_model_services::RobotModelAbstractFactoryPtr next_best_view::NextBestView::createRobotModelFromConfig ( int  moduleId)
inline

Definition at line 450 of file NextBestView.hpp.

SpaceSamplerAbstractFactoryPtr next_best_view::NextBestView::createSpaceSamplerFromConfig ( int  moduleId)
inline

Definition at line 391 of file NextBestView.hpp.

UnitSphereSamplerAbstractFactoryPtr next_best_view::NextBestView::createSphereSamplerFromConfig ( int  moduleId)
inline

Definition at line 376 of file NextBestView.hpp.

void next_best_view::NextBestView::dynamicReconfigureCallback ( asr_next_best_view::DynamicParametersConfig &  config,
uint32_t  level 
)
inline

Definition at line 1049 of file NextBestView.hpp.

NextBestViewCalculator& next_best_view::NextBestView::getCalculator ( )
inline

Definition at line 1023 of file NextBestView.hpp.

void next_best_view::NextBestView::getIndicesOutsideFrustum ( const ViewportPoint &  viewport,
Indices &  resultIndices 
)
inline

Definition at line 1027 of file NextBestView.hpp.

std::map<std::string, std::string> next_best_view::NextBestView::getMeshResources ( ObjectPointCloud  objectPointCloud)
inline

Definition at line 1035 of file NextBestView.hpp.

void next_best_view::NextBestView::initialize ( )
inline

Definition at line 185 of file NextBestView.hpp.

bool next_best_view::NextBestView::processGetNextBestViewServiceCall ( asr_next_best_view::GetNextBestView::Request &  request,
asr_next_best_view::GetNextBestView::Response &  response 
)
inline

Definition at line 743 of file NextBestView.hpp.

bool next_best_view::NextBestView::processGetPointCloudServiceCall ( asr_next_best_view::GetAttributedPointCloud::Request &  request,
asr_next_best_view::GetAttributedPointCloud::Response &  response 
)
inline

Definition at line 655 of file NextBestView.hpp.

bool next_best_view::NextBestView::processRateViewports ( asr_next_best_view::RateViewports::Request &  request,
asr_next_best_view::RateViewports::Response &  response 
)
inline

Definition at line 522 of file NextBestView.hpp.

bool next_best_view::NextBestView::processRemoveObjects ( asr_next_best_view::RemoveObjects::Request &  request,
asr_next_best_view::RemoveObjects::Response &  response 
)
inline

Definition at line 622 of file NextBestView.hpp.

bool next_best_view::NextBestView::processResetCalculatorServiceCall ( asr_next_best_view::ResetCalculator::Request &  request,
asr_next_best_view::ResetCalculator::Response &  response 
)
inline

Definition at line 512 of file NextBestView.hpp.

bool next_best_view::NextBestView::processSetInitRobotStateServiceCall ( asr_next_best_view::SetInitRobotState::Request &  request,
asr_next_best_view::SetInitRobotState::Response &  response 
)
inline

Definition at line 722 of file NextBestView.hpp.

bool next_best_view::NextBestView::processSetPointCloudServiceCall ( asr_next_best_view::SetAttributedPointCloud::Request &  request,
asr_next_best_view::SetAttributedPointCloud::Response &  response 
)
inline

Definition at line 667 of file NextBestView.hpp.

bool next_best_view::NextBestView::processTriggerFrustumsAndPointCloudVisualization ( asr_next_best_view::TriggerFrustumsAndPointCloudVisualization::Request &  request,
asr_next_best_view::TriggerFrustumsAndPointCloudVisualization::Response &  response 
)
inline

Definition at line 886 of file NextBestView.hpp.

bool next_best_view::NextBestView::processTriggerFrustumVisualization ( asr_next_best_view::TriggerFrustumVisualization::Request &  request,
asr_next_best_view::TriggerFrustumVisualization::Response &  response 
)
inline

Definition at line 856 of file NextBestView.hpp.

bool next_best_view::NextBestView::processTriggerOldFrustumVisualization ( asr_next_best_view::TriggerFrustumVisualization::Request &  request,
asr_next_best_view::TriggerFrustumVisualization::Response &  response 
)
inline

Definition at line 871 of file NextBestView.hpp.

bool next_best_view::NextBestView::processUpdatePointCloudServiceCall ( asr_next_best_view::UpdatePointCloud::Request &  request,
asr_next_best_view::UpdatePointCloud::Response &  response 
)
inline

Definition at line 808 of file NextBestView.hpp.

void next_best_view::NextBestView::publishNewPointCloudVisualization ( )
inline

Definition at line 991 of file NextBestView.hpp.

void next_best_view::NextBestView::publishPointCloudNormals ( )
inline

Definition at line 1013 of file NextBestView.hpp.

void next_best_view::NextBestView::publishVisualization ( ViewportPoint  viewport,
bool  publishFrustum 
)
inline

Publishes the Visualization of the NextBestView.

Parameters
publishFrustumwhether the frustum should be published

Definition at line 946 of file NextBestView.hpp.

bool next_best_view::NextBestView::triggerVisualization ( )
inline

Definition at line 926 of file NextBestView.hpp.

bool next_best_view::NextBestView::triggerVisualization ( ViewportPoint  viewport)
inline

Definition at line 930 of file NextBestView.hpp.

Member Data Documentation

NextBestViewCalculator next_best_view::NextBestView::mCalculator
private

Definition at line 100 of file NextBestView.hpp.

CameraModelFilterAbstractFactoryPtr next_best_view::NextBestView::mCameraModelFactoryPtr
private

Definition at line 154 of file NextBestView.hpp.

asr_next_best_view::DynamicParametersConfig next_best_view::NextBestView::mConfig
private

Definition at line 132 of file NextBestView.hpp.

uint32_t next_best_view::NextBestView::mConfigLevel
private

Definition at line 133 of file NextBestView.hpp.

ViewportPoint next_best_view::NextBestView::mCurrentCameraViewport
private

Definition at line 121 of file NextBestView.hpp.

bool next_best_view::NextBestView::mCurrentlyPublishingVisualization
private

Definition at line 128 of file NextBestView.hpp.

DebugHelperPtr next_best_view::NextBestView::mDebugHelperPtr
private

Definition at line 122 of file NextBestView.hpp.

dynamic_reconfigure::Server<asr_next_best_view::DynamicParametersConfig> next_best_view::NextBestView::mDynamicReconfigServer
private

Definition at line 131 of file NextBestView.hpp.

bool next_best_view::NextBestView::mFirstRun
private

Definition at line 134 of file NextBestView.hpp.

ros::ServiceServer next_best_view::NextBestView::mGetNextBestViewServiceServer
private

Definition at line 110 of file NextBestView.hpp.

ros::ServiceServer next_best_view::NextBestView::mGetPointCloudServiceServer
private

Definition at line 107 of file NextBestView.hpp.

ros::NodeHandle next_best_view::NextBestView::mGlobalNodeHandle
private

Definition at line 103 of file NextBestView.hpp.

HypothesisUpdaterAbstractFactoryPtr next_best_view::NextBestView::mHypothesisUpdaterFactoryPtr
private

Definition at line 157 of file NextBestView.hpp.

MapHelperPtr next_best_view::NextBestView::mMapHelperPtr
private

Definition at line 152 of file NextBestView.hpp.

ros::NodeHandle next_best_view::NextBestView::mNodeHandle
private

Definition at line 104 of file NextBestView.hpp.

ros::ServiceServer next_best_view::NextBestView::mRateViewportsServer
private

Definition at line 116 of file NextBestView.hpp.

RatingModuleAbstractFactoryPtr next_best_view::NextBestView::mRatingModuleFactoryPtr
private

Definition at line 156 of file NextBestView.hpp.

ros::ServiceServer next_best_view::NextBestView::mRemoveObjectsServer
private

Definition at line 117 of file NextBestView.hpp.

ros::ServiceServer next_best_view::NextBestView::mResetCalculatorServer
private

Definition at line 115 of file NextBestView.hpp.

robot_model_services::RobotModelAbstractFactoryPtr next_best_view::NextBestView::mRobotModelFactoryPtr
private

Definition at line 155 of file NextBestView.hpp.

ros::ServiceServer next_best_view::NextBestView::mSetInitRobotStateServiceServer
private

Definition at line 109 of file NextBestView.hpp.

ros::ServiceServer next_best_view::NextBestView::mSetPointCloudServiceServer
private

Definition at line 108 of file NextBestView.hpp.

bool next_best_view::NextBestView::mShowFrustumMarkerArray
private

Definition at line 127 of file NextBestView.hpp.

bool next_best_view::NextBestView::mShowFrustumPointCloud
private

Definition at line 127 of file NextBestView.hpp.

bool next_best_view::NextBestView::mShowNormals
private

Definition at line 127 of file NextBestView.hpp.

bool next_best_view::NextBestView::mShowPointcloud
private

visualization settings

Definition at line 127 of file NextBestView.hpp.

SpaceSamplerAbstractFactoryPtr next_best_view::NextBestView::mSpaceSampleFactoryPtr
private

Definition at line 153 of file NextBestView.hpp.

UnitSphereSamplerAbstractFactoryPtr next_best_view::NextBestView::mSphereSamplerFactoryPtr
private

Definition at line 151 of file NextBestView.hpp.

ros::ServiceServer next_best_view::NextBestView::mTriggerFrustmsAndPointCloudVisualizationServer
private

Definition at line 114 of file NextBestView.hpp.

ros::ServiceServer next_best_view::NextBestView::mTriggerFrustumVisualizationServer
private

Definition at line 112 of file NextBestView.hpp.

ros::ServiceServer next_best_view::NextBestView::mTriggerOldFrustumVisualizationServer
private

Definition at line 113 of file NextBestView.hpp.

ros::ServiceServer next_best_view::NextBestView::mUpdatePointCloudServiceServer
private

Definition at line 111 of file NextBestView.hpp.

VisualizationHelperPtr next_best_view::NextBestView::mVisHelperPtr
private

Definition at line 123 of file NextBestView.hpp.

boost::shared_ptr<boost::thread> next_best_view::NextBestView::mVisualizationThread
private

Definition at line 148 of file NextBestView.hpp.

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

asr_next_best_view
Author(s): Aumann Florian, Borella Jocelyn, Heller Florian, Meißner Pascal, Schleicher Ralf, Stöckle Patrick, Stroh Daniel, Trautmann Jeremias, Walter Milena, Wittenbeck Valerij
autogenerated on Thu Jan 9 2020 07:20:18