cart_state_estimator::CartStateEstimator Class Reference

#include <cart_state_estimator.h>

List of all members.

Public Member Functions
	CartStateEstimator ()
Private Member Functions
void	broadcastCartPose (const string &frame, const btTransform &trans)
btTransform	cartPoseFromCheckerboard (const btTransform &cb_pose) const
StampedTransform	computeCartFrame (const StampedPose &left, const StampedPose &right) const
gm::PolygonStamped	getProjectedFootprint () const
void	publishState (const ros::WallTimerEvent &e)
bool	resetEstimate (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
Private Attributes
btTransform	cart_init_pose_
const double	cart_length_
const btTransform	cart_to_board_
const double	cart_width_
const geometry_msgs::PolygonStamped	footprint_
ros::Publisher	footprint_pub_
const double	footprint_x_offset_
const double	footprint_y_offset_
ManipulationTransforms	grasp_solver_
std::vector< btTransform >	gripper_init_poses_
const string	l_gripper_frame_
boost::mutex	mutex_
ros::NodeHandle	nh_
ros::WallTimer	pub_timer_
const double	publication_interval_
const bool	publish_fake_transforms_
const string	r_gripper_frame_
ros::ServiceServer	reset_est_server_
tf::TransformBroadcaster	tf_broadcaster_
tf::TransformListener	tf_listener_
const double	transform_recency_threshold_

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Detailed Description

Definition at line 69 of file cart_state_estimator.h.

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Constructor & Destructor Documentation

cart_state_estimator::CartStateEstimator::CartStateEstimator

(

)

Definition at line 65 of file cart_state_estimator.cpp.

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Member Function Documentation

void cart_state_estimator::CartStateEstimator::broadcastCartPose	(	const string &	frame,
		const btTransform &	trans
	)			[private]

Definition at line 129 of file cart_state_estimator.cpp.

btTransform cart_state_estimator::CartStateEstimator::cartPoseFromCheckerboard

(

const btTransform &

cb_pose

)

const [private]

StampedTransform cart_state_estimator::CartStateEstimator::computeCartFrame	(	const StampedPose &	left,
		const StampedPose &	right
	)			const [private]

gm::PolygonStamped cart_state_estimator::CartStateEstimator::getProjectedFootprint

(

)

const [private]

Definition at line 109 of file cart_state_estimator.cpp.

void cart_state_estimator::CartStateEstimator::publishState

(

const ros::WallTimerEvent &

e

)

[private]

Definition at line 136 of file cart_state_estimator.cpp.

bool cart_state_estimator::CartStateEstimator::resetEstimate	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)			[private]

Definition at line 90 of file cart_state_estimator.cpp.

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Member Data Documentation

btTransform cart_state_estimator::CartStateEstimator::cart_init_pose_ [private]

Definition at line 103 of file cart_state_estimator.h.

const double cart_state_estimator::CartStateEstimator::cart_length_ [private]

Definition at line 85 of file cart_state_estimator.h.

const btTransform cart_state_estimator::CartStateEstimator::cart_to_board_ [private]

Definition at line 93 of file cart_state_estimator.h.

const double cart_state_estimator::CartStateEstimator::cart_width_ [private]

Definition at line 84 of file cart_state_estimator.h.

const geometry_msgs::PolygonStamped cart_state_estimator::CartStateEstimator::footprint_ [private]

Definition at line 88 of file cart_state_estimator.h.

ros::Publisher cart_state_estimator::CartStateEstimator::footprint_pub_ [private]

Definition at line 101 of file cart_state_estimator.h.

const double cart_state_estimator::CartStateEstimator::footprint_x_offset_ [private]

Definition at line 89 of file cart_state_estimator.h.

const double cart_state_estimator::CartStateEstimator::footprint_y_offset_ [private]

Definition at line 89 of file cart_state_estimator.h.

ManipulationTransforms cart_state_estimator::CartStateEstimator::grasp_solver_ [private]

The solver object for computing new relative poses

Definition at line 104 of file cart_state_estimator.h.

std::vector<btTransform> cart_state_estimator::CartStateEstimator::gripper_init_poses_ [private]

Definition at line 94 of file cart_state_estimator.h.

const string cart_state_estimator::CartStateEstimator::l_gripper_frame_ [private]

Definition at line 86 of file cart_state_estimator.h.

boost::mutex cart_state_estimator::CartStateEstimator::mutex_ [private]

Definition at line 96 of file cart_state_estimator.h.

ros::NodeHandle cart_state_estimator::CartStateEstimator::nh_ [private]

Definition at line 97 of file cart_state_estimator.h.

ros::WallTimer cart_state_estimator::CartStateEstimator::pub_timer_ [private]

Definition at line 100 of file cart_state_estimator.h.

const double cart_state_estimator::CartStateEstimator::publication_interval_ [private]

Definition at line 90 of file cart_state_estimator.h.

const bool cart_state_estimator::CartStateEstimator::publish_fake_transforms_ [private]

Definition at line 87 of file cart_state_estimator.h.

const string cart_state_estimator::CartStateEstimator::r_gripper_frame_ [private]

Definition at line 86 of file cart_state_estimator.h.

ros::ServiceServer cart_state_estimator::CartStateEstimator::reset_est_server_ [private]

Definition at line 102 of file cart_state_estimator.h.

tf::TransformBroadcaster cart_state_estimator::CartStateEstimator::tf_broadcaster_ [private]

Definition at line 99 of file cart_state_estimator.h.

tf::TransformListener cart_state_estimator::CartStateEstimator::tf_listener_ [private]

Definition at line 98 of file cart_state_estimator.h.

const double cart_state_estimator::CartStateEstimator::transform_recency_threshold_ [private]

Definition at line 91 of file cart_state_estimator.h.

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

• cart_state_estimator.h
• cart_state_estimator.cpp