sensor_manager.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_MOVEIT_SENSOR_MANAGER_
38 #define MOVEIT_MOVEIT_SENSOR_MANAGER_
39 
40 #include <vector>
41 #include <string>
43 #include <moveit_msgs/RobotTrajectory.h>
44 #include <geometry_msgs/PointStamped.h>
45 
48 {
50 struct SensorInfo
51 {
52  SensorInfo() : min_dist(0.), max_dist(0.0), x_angle(0.0), y_angle(0.0)
53  {
54  }
55 
57  std::string origin_frame;
58 
59  /* Define the frustum (or approximation of the frustum) */
60 
62  double min_dist;
63 
65  double max_dist;
66 
68  double x_angle;
69 
71  double y_angle;
72 };
73 
75 
77 {
78 public:
80  {
81  }
82 
84  {
85  }
86 
88  virtual void getSensorsList(std::vector<std::string>& names) const = 0;
89 
91  virtual SensorInfo getSensorInfo(const std::string& name) const = 0;
92 
94  virtual bool hasSensors() const = 0;
95 
102  virtual bool pointSensorTo(const std::string& name, const geometry_msgs::PointStamped& target,
103  moveit_msgs::RobotTrajectory& sensor_trajectory) = 0;
104 };
105 }
106 
107 #endif
double y_angle
The range of observations (in radians) on the Y axis.
double max_dist
The maximum distance along the Z axis at which observations can be.
std::string origin_frame
The name of the frame in which the sensor observation axis is Z and starts at (0,0,0)
Namespace for the base class of a MoveIt sensor manager.
double x_angle
The range of observations (in radians) on the X axis.
MOVEIT_CLASS_FORWARD(MoveItSensorManager)
Define the frame of reference and the frustum of a sensor (usually this is a visual sensor) ...
double min_dist
The minumum distance along the Z axis at which observations start.


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sat Apr 21 2018 02:54:52