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object_manipulator::GraspMarkerPublisher Class Reference

Publishes and keeps track of debug grasp markers. More...

#include <grasp_marker_publisher.h>

List of all members.

Public Member Functions

unsigned int addGraspMarker (const geometry_msgs::PoseStamped &marker_pose)
 Adds and publishes a marker with default color (blue). Returns the id of the new marker.
void clearAllMarkers ()
 Removes and deletes all currently displayed markers.
void colorGraspMarker (unsigned int marker_id, float r, float g, float b)
 Sets the color of the grasp marker with the given id.
 GraspMarkerPublisher (std::string marker_out_name, std::string ns_append, double publishing_rate)
 Advertises the marker topic with aadvanced options.
 GraspMarkerPublisher ()
 Advertises the marker publishing topic with default options.
void setMarkerPose (unsigned int marker_id, const geometry_msgs::PoseStamped &marker_pose)
 Sets the pose of the marker with the given id.
void setNamespaceSuffix (std::string ns_append)
 Sets the string to append to the namespace that the markers are published on.
 ~GraspMarkerPublisher ()
 Joins the publishing thread, if any.

Private Member Functions

void init (std::string marker_out_name, std::string ns_append, double publishing_rate)
 Operations common to all constructors, sets all the possible options.
void publishingThread ()
 Re-publishes all marker periodically.

Private Attributes

double continuous_publishing_rate_
 The rate of continuous publishing, in seconds.
std::vector
< visualization_msgs::Marker
grasp_markers_
 The current set of visualization markers.
ros::Publisher marker_pub_
 Publisher for debug markers.
boost::mutex mutex_
 Mutex for access to list of grasp markers.
std::string ns_append_
 String to append to the namespace for each marker published by this publisher.
ros::NodeHandle priv_nh_
 Private node handle.
boost::thread * publishing_thread_
 Separate thread for continuous publishing.

Detailed Description

Publishes and keeps track of debug grasp markers.

Definition at line 49 of file grasp_marker_publisher.h.


Constructor & Destructor Documentation

object_manipulator::GraspMarkerPublisher::GraspMarkerPublisher (  ) 

Advertises the marker publishing topic with default options.

Definition at line 63 of file grasp_marker_publisher.cpp.

object_manipulator::GraspMarkerPublisher::GraspMarkerPublisher ( std::string  marker_out_name,
std::string  ns_append,
double  publishing_rate 
)

Advertises the marker topic with aadvanced options.

Definition at line 69 of file grasp_marker_publisher.cpp.

object_manipulator::GraspMarkerPublisher::~GraspMarkerPublisher (  ) 

Joins the publishing thread, if any.

Definition at line 75 of file grasp_marker_publisher.cpp.


Member Function Documentation

unsigned int object_manipulator::GraspMarkerPublisher::addGraspMarker ( const geometry_msgs::PoseStamped marker_pose  ) 

Adds and publishes a marker with default color (blue). Returns the id of the new marker.

Definition at line 113 of file grasp_marker_publisher.cpp.

void object_manipulator::GraspMarkerPublisher::clearAllMarkers (  ) 

Removes and deletes all currently displayed markers.

Definition at line 101 of file grasp_marker_publisher.cpp.

void object_manipulator::GraspMarkerPublisher::colorGraspMarker ( unsigned int  marker_id,
float  r,
float  g,
float  b 
)

Sets the color of the grasp marker with the given id.

Definition at line 149 of file grasp_marker_publisher.cpp.

void object_manipulator::GraspMarkerPublisher::init ( std::string  marker_out_name,
std::string  ns_append,
double  publishing_rate 
) [private]

Operations common to all constructors, sets all the possible options.

Possible options:

Parameters:
marker_out_name - the topic that markers are published on
ns_append - a suffix appended to the markers namespace
publishing_rate - the rate at which marker get re-published. Use a negative value to disable continuous re-publishing

Definition at line 50 of file grasp_marker_publisher.cpp.

void object_manipulator::GraspMarkerPublisher::publishingThread (  )  [private]

Re-publishes all marker periodically.

Definition at line 85 of file grasp_marker_publisher.cpp.

void object_manipulator::GraspMarkerPublisher::setMarkerPose ( unsigned int  marker_id,
const geometry_msgs::PoseStamped marker_pose 
)

Sets the pose of the marker with the given id.

Definition at line 167 of file grasp_marker_publisher.cpp.

void object_manipulator::GraspMarkerPublisher::setNamespaceSuffix ( std::string  ns_append  )  [inline]

Sets the string to append to the namespace that the markers are published on.

Definition at line 96 of file grasp_marker_publisher.h.


Member Data Documentation

The rate of continuous publishing, in seconds.

Definition at line 71 of file grasp_marker_publisher.h.

The current set of visualization markers.

Definition at line 59 of file grasp_marker_publisher.h.

Publisher for debug markers.

Definition at line 56 of file grasp_marker_publisher.h.

Mutex for access to list of grasp markers.

Definition at line 68 of file grasp_marker_publisher.h.

String to append to the namespace for each marker published by this publisher.

Definition at line 62 of file grasp_marker_publisher.h.

Private node handle.

Definition at line 53 of file grasp_marker_publisher.h.

Separate thread for continuous publishing.

Definition at line 65 of file grasp_marker_publisher.h.


The documentation for this class was generated from the following files:
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object_manipulator
Author(s): Matei Ciocarlie and Kaijen Hsiao
autogenerated on Fri Mar 1 18:35:36 2013