Functions | Variables
Current.cpp File Reference
#include <ros/ros.h>
#include <iostream>
#include <fstream>
#include <ias_drawer_executive/Approach.h>
#include <ias_drawer_executive/RobotDriver.h>
#include <ias_drawer_executive/Gripper.h>
#include <ias_drawer_executive/Geometry.h>
#include <ias_drawer_executive/Pressure.h>
#include <ias_drawer_executive/RobotArm.h>
#include <ias_drawer_executive/Torso.h>
#include <ias_drawer_executive/Head.h>
#include <ias_drawer_executive/OperateHandleController.h>
#include <ias_drawer_executive/Current.h>
#include <ias_drawer_executive/ObjectLocalizer.h>
#include <pcl/common/common.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/point_types.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/features/boundary.h>
#include <pcl/features/normal_3d.h>
#include <pcl/ros/conversions.h>
#include <pcl_ros/point_cloud.h>
#include <pcl_ros/transforms.h>
#include <boost/thread.hpp>
#include <visualization_msgs/Marker.h>
#include "rosbag/bag.h"
#include "rosbag/query.h"
#include "rosbag/view.h"
#include <ias_drawer_executive/Kinect.h>
Include dependency graph for Current.cpp:

Go to the source code of this file.

Functions

void announce (const std::string text, const tf::Stamped< tf::Pose > &poseStamped)
void announce_box (const std::string text, const btVector3 min, const btVector3 max)
void calcBigBowlGraspPoses (const tf::Stamped< tf::Pose > &bowl, tf::Stamped< tf::Pose > &l_pregrasp, tf::Stamped< tf::Pose > &l_grasp, tf::Stamped< tf::Pose > &r_pregrasp, tf::Stamped< tf::Pose > &r_grasp)
void calcPotGraspPoints (tf::Stamped< tf::Pose > det, tf::Stamped< tf::Pose > &leftpreg, tf::Stamped< tf::Pose > &leftg, tf::Stamped< tf::Pose > &rightpreg, tf::Stamped< tf::Pose > &rightg)
int closeDrawer (int jump)
int current (int argc, char **argv)
int development_tools (int argc, char **argv)
btVector3 diff (-.12, 0, 0)
void discardKinectFrame ()
void findBoundary1 (pcl::PointCloud< pcl::PointXYZRGB > &in, pcl::PointCloud< pcl::PointXYZRGB > &edges, pcl::PointCloud< pcl::PointXYZRGB > &other, std::vector< int > &edge_indices)
void findBoundary2 (pcl::PointCloud< pcl::PointXYZRGB > &in, pcl::PointCloud< pcl::PointXYZRGB > &edges, pcl::PointCloud< pcl::PointXYZRGB > &other, std::vector< int > &edge_indices)
int fotopourReadyPopcorn_ (double base_x, double base_y, double base_oz, double base_ow, double height_, double angle, bool do_exit=false)
void getBigBowlOut ()
tf::Stamped< tf::PosegetBigBowlPose (const btVector3 &search)
int getBowlFromDrawer (int jump)
bool getCircle (const btVector3 min, const btVector3 max, btVector3 &center, double &radius)
bool getCircleFromCloud (pcl::PointCloud< pcl::PointXYZRGB > &pot_cyl_cloud, btVector3 &center, double &radius)
 get circle2d in xy plane within searchspace min->max, from pointcloud in parameter
bool getCirclesFromCloud (pcl::PointCloud< pcl::PointXYZRGB > &pot_cyl_cloud, double radius_goal, double radius_tolerance, std::vector< btVector3 > &center, std::vector< double > &radius, std::vector< int > &numinliers, size_t iterations=5)
void getLidAndBowl (int jump)
bool getLidPose (tf::Stamped< tf::Pose > &lid, btVector3 min=btVector3(-2.134, 2.625, 0.955), btVector3 max=btVector3(-1.663, 3.215, 0.972))
void getPointsInBox (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud, btVector3 min, btVector3 max, pcl::PointCloud< pcl::PointXYZRGB >::Ptr inBox)
void getPotOut (int jump)
bool getPotPose (tf::Stamped< tf::Pose > &potPose, tf::Stamped< tf::Pose > &leftpreg, tf::Stamped< tf::Pose > &leftg, tf::Stamped< tf::Pose > &rightpreg, tf::Stamped< tf::Pose > &rightg, bool via_lid=true)
 pot detector based on pcl
bool graspBigBowl (const tf::Stamped< tf::Pose > &bowl, bool grasp=true)
int openFavouriteDrawer (int jump)
int pourReadyPopcorn_ (double base_x, double base_y, double base_oz, double base_ow, double height_=0.0)
int pourReadyPopcornTable (int jump)
void printPose (const char title[], tf::Stamped< tf::Pose > pose)
void printPose (const char title[], tf::Pose pose)
void printPoseSimple (tf::Stamped< tf::Pose > pose)
void pubCloud (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud)
void pubMarker (tf::Stamped< tf::Pose > pose, double radius)
void putBigBowlOntoIsland ()
void putBigBowlOntoIsland_heater ()
void putBigBowlOntoTable (btVector3 search, double base_x, double base_y, double base_oz, double base_ow)
void returnPotToHeater ()
void returnPotToSink ()
void salt_it (btVector3 saltloc, double base_x=-1.087042+.1, double base_y=1.707556-.025, double base_oz=0.998003, double base_ow=-0.063155)
void shake_it ()
void takepot (int jump)

Variables

ros::Publisher cloud_pub
bool cloud_pub_initialized = false
tf::Stamped< tf::Posehack_l
tf::Stamped< tf::Posehack_r
int marker_id = 1
ros::Publisher perc_announcer
bool perc_init = false

Function Documentation

void announce ( const std::string  text,
const tf::Stamped< tf::Pose > &  poseStamped 
)

Definition at line 54 of file Current.cpp.

void announce_box ( const std::string  text,
const btVector3  min,
const btVector3  max 
)

Definition at line 115 of file Current.cpp.

void calcBigBowlGraspPoses ( const tf::Stamped< tf::Pose > &  bowl,
tf::Stamped< tf::Pose > &  l_pregrasp,
tf::Stamped< tf::Pose > &  l_grasp,
tf::Stamped< tf::Pose > &  r_pregrasp,
tf::Stamped< tf::Pose > &  r_grasp 
)

Definition at line 3423 of file Current.cpp.

void calcPotGraspPoints ( tf::Stamped< tf::Pose det,
tf::Stamped< tf::Pose > &  leftpreg,
tf::Stamped< tf::Pose > &  leftg,
tf::Stamped< tf::Pose > &  rightpreg,
tf::Stamped< tf::Pose > &  rightg 
)

Definition at line 902 of file Current.cpp.

int closeDrawer ( int  jump)

Definition at line 3650 of file Current.cpp.

int current ( int  argc,
char **  argv 
)

bowl detection test?

Definition at line 4008 of file Current.cpp.

int development_tools ( int  argc,
char **  argv 
)

Definition at line 212 of file Current.cpp.

btVector3 diff ( -.  12,
,
 
)

Definition at line 546 of file Current.cpp.

void findBoundary1 ( pcl::PointCloud< pcl::PointXYZRGB > &  in,
pcl::PointCloud< pcl::PointXYZRGB > &  edges,
pcl::PointCloud< pcl::PointXYZRGB > &  other,
std::vector< int > &  edge_indices 
)

Definition at line 1207 of file Current.cpp.

void findBoundary2 ( pcl::PointCloud< pcl::PointXYZRGB > &  in,
pcl::PointCloud< pcl::PointXYZRGB > &  edges,
pcl::PointCloud< pcl::PointXYZRGB > &  other,
std::vector< int > &  edge_indices 
)

Definition at line 1257 of file Current.cpp.

int fotopourReadyPopcorn_ ( double  base_x,
double  base_y,
double  base_oz,
double  base_ow,
double  height_,
double  angle,
bool  do_exit = false 
)

pour out the popcorn

Definition at line 2790 of file Current.cpp.

void getBigBowlOut ( )

Definition at line 3559 of file Current.cpp.

tf::Stamped< tf::Pose > getBigBowlPose ( const btVector3 &  search)

Definition at line 3371 of file Current.cpp.

int getBowlFromDrawer ( int  jump)

Definition at line 3642 of file Current.cpp.

bool getCircle ( const btVector3  min,
const btVector3  max,
btVector3 &  center,
double &  radius 
)

Definition at line 592 of file Current.cpp.

bool getCircleFromCloud ( pcl::PointCloud< pcl::PointXYZRGB > &  pot_cyl_cloud,
btVector3 &  center,
double &  radius 
)

get circle2d in xy plane within searchspace min->max, from pointcloud in parameter

Definition at line 707 of file Current.cpp.

bool getCirclesFromCloud ( pcl::PointCloud< pcl::PointXYZRGB > &  pot_cyl_cloud,
double  radius_goal,
double  radius_tolerance,
std::vector< btVector3 > &  center,
std::vector< double > &  radius,
std::vector< int > &  numinliers,
size_t  iterations = 5 
)

Definition at line 768 of file Current.cpp.

void getLidAndBowl ( int  jump)

Definition at line 2244 of file Current.cpp.

bool getLidPose ( tf::Stamped< tf::Pose > &  lid,
btVector3  min = btVector3(-2.134, 2.625,0.955),
btVector3  max = btVector3(-1.663, 3.215,0.972) 
)

Definition at line 863 of file Current.cpp.

void getPointsInBox ( pcl::PointCloud< pcl::PointXYZRGB >::Ptr  cloud,
btVector3  min,
btVector3  max,
pcl::PointCloud< pcl::PointXYZRGB >::Ptr  inBox 
)

Definition at line 554 of file Current.cpp.

void getPotOut ( int  jump)

Definition at line 1633 of file Current.cpp.

bool getPotPose ( tf::Stamped< tf::Pose > &  potPose,
tf::Stamped< tf::Pose > &  leftpreg,
tf::Stamped< tf::Pose > &  leftg,
tf::Stamped< tf::Pose > &  rightpreg,
tf::Stamped< tf::Pose > &  rightg,
bool  via_lid = true 
)

pot detector based on pcl

find circle from pot base cylinder

calc grasp poses

Definition at line 945 of file Current.cpp.

bool graspBigBowl ( const tf::Stamped< tf::Pose > &  bowl,
bool  grasp = true 
)

Definition at line 3446 of file Current.cpp.

int openFavouriteDrawer ( int  jump)

Definition at line 3575 of file Current.cpp.

int pourReadyPopcorn_ ( double  base_x,
double  base_y,
double  base_oz,
double  base_ow,
double  height_ = 0.0 
)

pour out the popcorn

Definition at line 2721 of file Current.cpp.

int pourReadyPopcornTable ( int  jump)

Definition at line 3969 of file Current.cpp.

void printPose ( const char  title[],
tf::Stamped< tf::Pose pose 
)

Definition at line 199 of file Current.cpp.

void printPose ( const char  title[],
tf::Pose  pose 
)

Definition at line 2563 of file Current.cpp.

Definition at line 205 of file Current.cpp.

void pubCloud ( pcl::PointCloud< pcl::PointXYZRGB >::Ptr  cloud)

Definition at line 174 of file Current.cpp.

void pubMarker ( tf::Stamped< tf::Pose pose,
double  radius 
)

Definition at line 445 of file Current.cpp.

Definition at line 3704 of file Current.cpp.

Definition at line 3739 of file Current.cpp.

void putBigBowlOntoTable ( btVector3  search,
double  base_x,
double  base_y,
double  base_oz,
double  base_ow 
)

Definition at line 3721 of file Current.cpp.

Definition at line 2866 of file Current.cpp.

void returnPotToSink ( )

Definition at line 2906 of file Current.cpp.

void salt_it ( btVector3  saltloc,
double  base_x = -1.087042 + .1,
double  base_y = 1.707556 - .025,
double  base_oz = 0.998003,
double  base_ow = -0.063155 
)

Definition at line 3032 of file Current.cpp.

void shake_it ( )

Definition at line 3759 of file Current.cpp.

void takepot ( int  jump)

Definition at line 3343 of file Current.cpp.


Variable Documentation

Definition at line 172 of file Current.cpp.

Definition at line 171 of file Current.cpp.

Definition at line 2463 of file Current.cpp.

Definition at line 2463 of file Current.cpp.

int marker_id = 1

Definition at line 50 of file Current.cpp.

Definition at line 48 of file Current.cpp.

bool perc_init = false

Definition at line 49 of file Current.cpp.

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ias_drawer_executive
Author(s): Thomas Ruehr
autogenerated on Thu May 23 2013 09:44:57