Perception3d.h
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00001 
00002 
00003 /*
00004  * Copyright (c) 2011, Thomas Ruehr <ruehr@cs.tum.edu>
00005  * All rights reserved.
00006  *
00007  * Redistribution and use in source and binary forms, with or without
00008  * modification, are permitted provided that the following conditions are met:
00009  *
00010  *     * Redistributions of source code must retain the above copyright
00011  *       notice, this list of conditions and the following disclaimer.
00012  *     * Redistributions in binary form must reproduce the above copyright
00013  *       notice, this list of conditions and the following disclaimer in the
00014  *       documentation and/or other materials provided with the distribution.
00015  *     * Neither the name of Willow Garage, Inc. nor the names of its
00016  *       contributors may be used to endorse or promote products derived from
00017  *       this software without specific prior written permission.
00018  *
00019  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00020  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00021  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00022  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00023  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00024  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00025  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00026  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00027  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00028  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00029  * POSSIBILITY OF SUCH DAMAGE.
00030  */
00031 
00032 
00033 #ifndef __Perception3d_H__
00034 #define __Perception3d_H__
00035 
00036 #include <ros/ros.h>
00037 
00038 #include <pcl/point_types.h>
00039 #include <pcl/io/pcd_io.h>
00040 #include "pcl/common/common.h"
00041 
00042 #include <boost/thread.hpp>
00043 #include <tf/transform_listener.h>
00044 
00045 #define ROSCPP_DEPRECATED
00046 
00047 #include <ias_table_msgs/TableCluster.h>
00048 
00049 
00050 typedef pcl::PointCloud<pcl::PointXYZ> PointCloudT;
00051 
00052 class Perception3d{
00053 
00054     public:
00055 
00056   static boost::mutex handle_cloud_mutex;
00057   static boost::mutex handle_mutex;
00058   static boost::mutex plane_mutex;
00059   static PointCloudT lastCloud;
00060   static btVector3 handleHint;
00061   static btVector3 handleResult;
00062   static ros::Time cloud_time;
00063   static ros::Time query_time;
00064   static double handleMinDist;
00065   static std::vector<tf::Stamped<tf::Pose> *> handlePoses;
00066   static std::vector<tf::Stamped<tf::Pose> *> planePoses;
00067 
00068   //get handles by pose
00069   static void handleCallback(const geometry_msgs::PoseStamped::ConstPtr& msg);
00070 
00071   static tf::Stamped<tf::Pose> getHandlePoseFromLaser(int pos);
00072 
00073   //get inslied cloud of handles
00074   static void handleCloudCallback(const sensor_msgs::PointCloud2::ConstPtr& msg);
00075 
00076   static tf::Stamped<tf::Pose> getHandlePoseFromLaser(tf::Stamped<tf::Pose> hint, double wait = -1);
00077 
00078   //get plane center inside fridge
00079   static void fridgePlaneCloudCallback(const sensor_msgs::PointCloud2::ConstPtr& msg);
00080 
00081   static tf::Stamped<tf::Pose> getFridgePlaneCenterPose();
00082 
00083   // get bottle
00084   static void bottleCallback(const ias_table_msgs::TableCluster::ConstPtr& msg);
00085 
00086   static tf::Stamped<tf::Pose> getBottlePose();
00087 
00088 };
00089 
00090 
00091 
00092 #endif
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ias_drawer_executive
Author(s): Thomas Ruehr
autogenerated on Thu May 23 2013 09:44:57