A (simple) semantic world representation for pick and place and other tasks. More...

#include <semantic_world.h>

Public Types
typedef boost::function< void()>	TableCallbackFn
	The signature for a callback on receiving table messages. More...

Public Member Functions
void	addTableCallback (const TableCallbackFn &table_callback)

bool	addTablesToCollisionWorld ()

void	clear ()

std::string	findObjectTable (const geometry_msgs::Pose &pose, double min_distance_from_edge=0.0, double min_vertical_offset=0.0) const

std::vector< geometry_msgs::PoseStamped >	generatePlacePoses (const object_recognition_msgs::Table &table, const shapes::ShapeConstPtr &object_shape, const geometry_msgs::Quaternion &object_orientation, double resolution, double delta_height=0.01, unsigned int num_heights=2) const
	Generate possible place poses on the table for a given object. This chooses appropriate values for min_distance_from_edge and for height_above_table based on the object properties. The assumption is that the object is represented by a mesh. More...

std::vector< geometry_msgs::PoseStamped >	generatePlacePoses (const object_recognition_msgs::Table &table, double resolution, double height_above_table, double delta_height=0.01, unsigned int num_heights=2, double min_distance_from_edge=0.10) const
	Generate possible place poses on the table. This samples locations in a grid on the table at the given resolution (in meters) in both X and Y directions. The locations are sampled at the specified height above the table (in meters) and then at subsequent additional heights (num_heights times) incremented by delta_height. Locations are only accepted if they are at least min_distance_from_edge meters from the edge of the table. More...

std::vector< geometry_msgs::PoseStamped >	generatePlacePoses (const std::string &table_name, const shapes::ShapeConstPtr &object_shape, const geometry_msgs::Quaternion &object_orientation, double resolution, double delta_height=0.01, unsigned int num_heights=2) const
	Generate possible place poses on the table for a given object. This chooses appropriate values for min_distance_from_edge and for height_above_table based on the object properties. The assumption is that the object is represented by a mesh. More...

visualization_msgs::MarkerArray	getPlaceLocationsMarker (const std::vector< geometry_msgs::PoseStamped > &poses) const

std::vector< std::string >	getTableNamesInROI (double minx, double miny, double minz, double maxx, double maxy, double maxz) const
	Get all the tables within a region of interest. More...

object_recognition_msgs::TableArray	getTablesInROI (double minx, double miny, double minz, double maxx, double maxy, double maxz) const
	Get all the tables within a region of interest. More...

bool	isInsideTableContour (const geometry_msgs::Pose &pose, const object_recognition_msgs::Table &table, double min_distance_from_edge=0.0, double min_vertical_offset=0.0) const

	SemanticWorld (const planning_scene::PlanningSceneConstPtr &planning_scene)
	A (simple) semantic world representation for pick and place and other tasks. Currently this is used only to represent tables. More...

Private Member Functions
shapes::Mesh *	createSolidMeshFromPlanarPolygon (const shapes::Mesh &polygon, double thickness) const

shapes::Mesh *	orientPlanarPolygon (const shapes::Mesh &polygon) const

void	tableCallback (const object_recognition_msgs::TableArrayPtr &msg)

void	transformTableArray (object_recognition_msgs::TableArray &table_array) const

Private Attributes
ros::Publisher	collision_object_publisher_

std::map< std::string, object_recognition_msgs::Table >	current_tables_in_collision_world_

ros::NodeHandle	node_handle_

std::vector< geometry_msgs::PoseStamped >	place_poses_

planning_scene::PlanningSceneConstPtr	planning_scene_

ros::Publisher	planning_scene_diff_publisher_

object_recognition_msgs::TableArray	table_array_

TableCallbackFn	table_callback_

ros::Subscriber	table_subscriber_

ros::Publisher	visualization_publisher_

Detailed Description

A (simple) semantic world representation for pick and place and other tasks.

Definition at line 61 of file semantic_world.h.

Member Typedef Documentation

◆ TableCallbackFn

typedef boost::function<void()> moveit::semantic_world::SemanticWorld::TableCallbackFn

The signature for a callback on receiving table messages.

Definition at line 65 of file semantic_world.h.

Constructor & Destructor Documentation

◆ SemanticWorld()

moveit::semantic_world::SemanticWorld::SemanticWorld ( const planning_scene::PlanningSceneConstPtr & planning_scene )

A (simple) semantic world representation for pick and place and other tasks. Currently this is used only to represent tables.

Definition at line 123 of file semantic_world.cpp.

Member Function Documentation

◆ addTableCallback()

void moveit::semantic_world::SemanticWorld::addTableCallback ( const TableCallbackFn & table_callback )

inline

Definition at line 124 of file semantic_world.h.

◆ addTablesToCollisionWorld()

bool moveit::semantic_world::SemanticWorld::addTablesToCollisionWorld ( )

Definition at line 160 of file semantic_world.cpp.

◆ clear()

void moveit::semantic_world::SemanticWorld::clear ( )

Definition at line 271 of file semantic_world.cpp.

◆ createSolidMeshFromPlanarPolygon()

shapes::Mesh * moveit::semantic_world::SemanticWorld::createSolidMeshFromPlanarPolygon	(	const shapes::Mesh &	polygon,
		double	thickness
	)		const

private

Definition at line 622 of file semantic_world.cpp.

◆ findObjectTable()

std::string moveit::semantic_world::SemanticWorld::findObjectTable	(	const geometry_msgs::Pose &	pose,
		double	min_distance_from_edge = `0.0`,
		double	min_vertical_offset = `0.0`
	)		const

Definition at line 516 of file semantic_world.cpp.

◆ generatePlacePoses() [1/3]

std::vector< geometry_msgs::PoseStamped > moveit::semantic_world::SemanticWorld::generatePlacePoses	(	const object_recognition_msgs::Table &	table,
		const shapes::ShapeConstPtr &	object_shape,
		const geometry_msgs::Quaternion &	object_orientation,
		double	resolution,
		double	delta_height = `0.01`,
		unsigned int	num_heights = `2`
	)		const

Generate possible place poses on the table for a given object. This chooses appropriate values for min_distance_from_edge and for height_above_table based on the object properties. The assumption is that the object is represented by a mesh.

Definition at line 298 of file semantic_world.cpp.

◆ generatePlacePoses() [2/3]

std::vector< geometry_msgs::PoseStamped > moveit::semantic_world::SemanticWorld::generatePlacePoses	(	const object_recognition_msgs::Table &	table,
		double	resolution,
		double	height_above_table,
		double	delta_height = `0.01`,
		unsigned int	num_heights = `2`,
		double	min_distance_from_edge = `0.10`
	)		const

Generate possible place poses on the table. This samples locations in a grid on the table at the given resolution (in meters) in both X and Y directions. The locations are sampled at the specified height above the table (in meters) and then at subsequent additional heights (num_heights times) incremented by delta_height. Locations are only accepted if they are at least min_distance_from_edge meters from the edge of the table.

Definition at line 373 of file semantic_world.cpp.

◆ generatePlacePoses() [3/3]

std::vector< geometry_msgs::PoseStamped > moveit::semantic_world::SemanticWorld::generatePlacePoses	(	const std::string &	table_name,
		const shapes::ShapeConstPtr &	object_shape,
		const geometry_msgs::Quaternion &	object_orientation,
		double	resolution,
		double	delta_height = `0.01`,
		unsigned int	num_heights = `2`
	)		const

Generate possible place poses on the table for a given object. This chooses appropriate values for min_distance_from_edge and for height_above_table based on the object properties. The assumption is that the object is represented by a mesh.

Definition at line 278 of file semantic_world.cpp.

◆ getPlaceLocationsMarker()

visualization_msgs::MarkerArray moveit::semantic_world::SemanticWorld::getPlaceLocationsMarker ( const std::vector< geometry_msgs::PoseStamped > & poses ) const

Definition at line 133 of file semantic_world.cpp.

◆ getTableNamesInROI()

std::vector< std::string > moveit::semantic_world::SemanticWorld::getTableNamesInROI	(	double	minx,
		double	miny,
		double	minz,
		double	maxx,
		double	maxy,
		double	maxz
	)		const

Get all the tables within a region of interest.

Definition at line 254 of file semantic_world.cpp.

◆ getTablesInROI()

object_recognition_msgs::TableArray moveit::semantic_world::SemanticWorld::getTablesInROI	(	double	minx,
		double	miny,
		double	minz,
		double	maxx,
		double	maxy,
		double	maxz
	)		const

Get all the tables within a region of interest.

Definition at line 237 of file semantic_world.cpp.

◆ isInsideTableContour()

bool moveit::semantic_world::SemanticWorld::isInsideTableContour	(	const geometry_msgs::Pose &	pose,
		const object_recognition_msgs::Table &	table,
		double	min_distance_from_edge = `0.0`,
		double	min_vertical_offset = `0.0`
	)		const

Definition at line 453 of file semantic_world.cpp.

◆ orientPlanarPolygon()

shapes::Mesh * moveit::semantic_world::SemanticWorld::orientPlanarPolygon ( const shapes::Mesh & polygon ) const

private

Definition at line 565 of file semantic_world.cpp.

◆ tableCallback()

void moveit::semantic_world::SemanticWorld::tableCallback ( const object_recognition_msgs::TableArrayPtr & msg )

private

Definition at line 529 of file semantic_world.cpp.

◆ transformTableArray()

void moveit::semantic_world::SemanticWorld::transformTableArray ( object_recognition_msgs::TableArray & table_array ) const

private

Definition at line 542 of file semantic_world.cpp.

Member Data Documentation

◆ collision_object_publisher_

ros::Publisher moveit::semantic_world::SemanticWorld::collision_object_publisher_

private

Definition at line 158 of file semantic_world.h.

◆ current_tables_in_collision_world_

std::map<std::string, object_recognition_msgs::Table> moveit::semantic_world::SemanticWorld::current_tables_in_collision_world_

private

Definition at line 152 of file semantic_world.h.

◆ node_handle_

ros::NodeHandle moveit::semantic_world::SemanticWorld::node_handle_

private

Definition at line 146 of file semantic_world.h.

◆ place_poses_

std::vector<geometry_msgs::PoseStamped> moveit::semantic_world::SemanticWorld::place_poses_

private

Definition at line 150 of file semantic_world.h.

◆ planning_scene_

planning_scene::PlanningSceneConstPtr moveit::semantic_world::SemanticWorld::planning_scene_

private

Definition at line 144 of file semantic_world.h.

◆ planning_scene_diff_publisher_

ros::Publisher moveit::semantic_world::SemanticWorld::planning_scene_diff_publisher_

private

Definition at line 162 of file semantic_world.h.

◆ table_array_

object_recognition_msgs::TableArray moveit::semantic_world::SemanticWorld::table_array_

private

Definition at line 148 of file semantic_world.h.

◆ table_callback_

TableCallbackFn moveit::semantic_world::SemanticWorld::table_callback_

private

Definition at line 160 of file semantic_world.h.

◆ table_subscriber_

ros::Subscriber moveit::semantic_world::SemanticWorld::table_subscriber_

private

Definition at line 156 of file semantic_world.h.

◆ visualization_publisher_

ros::Publisher moveit::semantic_world::SemanticWorld::visualization_publisher_

private

Definition at line 158 of file semantic_world.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ TableCallbackFn

Constructor & Destructor Documentation

◆ SemanticWorld()

Member Function Documentation

◆ addTableCallback()

◆ addTablesToCollisionWorld()

◆ clear()

◆ createSolidMeshFromPlanarPolygon()

◆ findObjectTable()

◆ generatePlacePoses() [1/3]

◆ generatePlacePoses() [2/3]

◆ generatePlacePoses() [3/3]

◆ getPlaceLocationsMarker()

◆ getTableNamesInROI()

◆ getTablesInROI()

◆ isInsideTableContour()

◆ orientPlanarPolygon()

◆ tableCallback()

◆ transformTableArray()

Member Data Documentation

◆ collision_object_publisher_

◆ current_tables_in_collision_world_

◆ node_handle_

◆ place_poses_

◆ planning_scene_

◆ planning_scene_diff_publisher_

◆ table_array_

◆ table_callback_

◆ table_subscriber_

◆ visualization_publisher_