Public Member Functions
void	calc_featurevectors (int roll, int tilt)

void	calc_intimage (int roll, int tilt)

	CCalc_Grasppoints (string name)

void	generate_grid (int roll, int tilt, pcl::PointCloud< pcl::PointXYZ > pcl_cloud_in)

void	gp_to_marker (visualization_msgs::Marker *marker, float x, float y, float z, float green, bool pubmarker, int gripperwidth, int nr_roll, bool pub_grip_open_dir, bool pub_grid)

void	grasp_area_to_marker (visualization_msgs::Marker *marker, float x, float y, float z, int gripperwidth, int nr_roll, int param_id, bool top_grasp)

void	loop_control (pcl::PointCloud< pcl::PointXYZ > pcl_cloud_in)

void	pnt_in_box (int nr_roll, int nr_tilt)

void	predict_bestgp_withsvm (bool svm_with_probability=false)

void	print_heights (int nr_roll, int nr_tilt)

void	publish_grasp_grid (int nr_roll, int tilt, float graspsgrid[][WIDTH], int gripperwidth)

void	publish_transformed_pcl_cloud (int roll, int tilt, pcl::PointCloud< pcl::PointXYZ > pcl_cloud_in)

void	read_pc_cb (const haf_grasping::CalcGraspPointsServerGoalConstPtr &goal)

void	show_predicted_gps (int nr_roll, int tilt, bool svm_with_probability=false)

void	transform_gp_in_wcs_and_publish (int id_row_top_all, int id_col_top_all, int nr_roll_top_all, int nr_tilt_top_all, int scaled_gp_eval)

Public Attributes
geometry_msgs::Vector3	approach_vector

Eigen::Matrix4f	av_trans_mat

string	base_frame_id

ros::Subscriber	box_position_sub

float	boxrot_angle_init

string	feature_file_path

haf_grasping::GraspOutput	gp_result

int	grasp_search_area_size_x_dir

int	grasp_search_area_size_y_dir

geometry_msgs::Point	graspsearchcenter

int	graspval_max_diff_for_pub

int	graspval_th

int	graspval_top

int	gripper_opening_width

float	heightsgridroll [ROLL_MAX_DEGREE/ROLL_STEPS_DEGREE][TILT_STEPS][HEIGHT][WIDTH]

int	id_col_top_overall

int	id_row_top_overall

float	integralimageroll [ROLL_MAX_DEGREE/ROLL_STEPS_DEGREE][TILT_STEPS][HEIGHT+1][WIDTH+1]

int	marker_cnt

float	max_duration_for_grasp_calc

int	nr_features_without_shaf

int	nr_roll_top_overall

int	nr_tilt_top_overall

string	outputpath_full

ros::Subscriber	pc_sub

bool	point_inside_box_grid [ROLL_MAX_DEGREE/ROLL_STEPS_DEGREE][TILT_STEPS][HEIGHT][WIDTH]

bool	print_heights_bool

ros::Publisher	pubGraspPoints

ros::Publisher	pubGraspPointsEval

ros::Publisher	pubInputPCROS

ros::Publisher	pubTransformedPCROS

tf::Quaternion	quat_tf_to_tf_help

string	range_file_path

bool	return_only_best_gp

string	svmmodel_file_path

tf::TransformListener	tf_listener

int	topval_gp_overall

float	trans_z_after_pc_transform

ros::Publisher	vis_pub

ros::Publisher	vis_pub_ma

ros::Publisher	vis_pub_ma_params

bool	visualization

Protected Attributes
std::string	action_name_

actionlib::SimpleActionServer< haf_grasping::CalcGraspPointsServerAction >	as_

haf_grasping::CalcGraspPointsServerFeedback	feedback_

ros::NodeHandle	nh_

haf_grasping::CalcGraspPointsServerResult	result_

Detailed Description

Constructor & Destructor Documentation

CCalc_Grasppoints::CCalc_Grasppoints ( string name )

inline

void CCalc_Grasppoints::calc_featurevectors	(	int	roll,
		int	tilt
	)

void CCalc_Grasppoints::calc_intimage	(	int	roll,
		int	tilt
	)

void CCalc_Grasppoints::generate_grid	(	int	roll,
		int	tilt,
		pcl::PointCloud< pcl::PointXYZ >	pcl_cloud_in
	)

void CCalc_Grasppoints::gp_to_marker	(	visualization_msgs::Marker *	marker,
		float	x,
		float	y,
		float	z,
		float	green,
		bool	pubmarker,
		int	gripperwidth = `1`,
		int	nr_roll = `0`,
		bool	pub_grip_open_dir = `false`,
		bool	pub_grid = `true`
	)

void CCalc_Grasppoints::grasp_area_to_marker	(	visualization_msgs::Marker *	marker,
		float	x,
		float	y,
		float	z,
		int	gripperwidth = `1`,
		int	nr_roll = `0`,
		int	param_id = `1`,
		bool	top_grasp = `false`
	)

!!!!!!!!!!!!!!!!

void CCalc_Grasppoints::loop_control ( pcl::PointCloud< pcl::PointXYZ > pcl_cloud_in )

void CCalc_Grasppoints::pnt_in_box	(	int	nr_roll,
		int	nr_tilt
	)

void CCalc_Grasppoints::predict_bestgp_withsvm ( bool svm_with_probability = false )

void CCalc_Grasppoints::print_heights	(	int	nr_roll,
		int	nr_tilt
	)

void CCalc_Grasppoints::publish_grasp_grid	(	int	nr_roll,
		int	tilt,
		float	graspsgrid[][WIDTH],
		int	gripperwidth = `1`
	)

void CCalc_Grasppoints::publish_transformed_pcl_cloud	(	int	roll,
		int	tilt,
		pcl::PointCloud< pcl::PointXYZ >	pcl_cloud_in
	)

void CCalc_Grasppoints::read_pc_cb ( const haf_grasping::CalcGraspPointsServerGoalConstPtr & goal )

void CCalc_Grasppoints::show_predicted_gps	(	int	nr_roll,
		int	tilt,
		bool	svm_with_probability = `false`
	)

void CCalc_Grasppoints::transform_gp_in_wcs_and_publish	(	int	id_row_top_all,
		int	id_col_top_all,
		int	nr_roll_top_all,
		int	nr_tilt_top_all,
		int	scaled_gp_eval
	)