Here are the classes, structs, unions and interfaces with brief descriptions:
| ICR::GraspServer | Contains a list of Phalanges and publishes corresponding icr_msgs/ContactPoints messages |
| ICR::IcrServer | |
| IcrServer | Server that computes Independent Contact Regions |
| ICR::ModelServer | |
| ICR::Phalange | This class represents a phalange of the hand. It subscribes to gazebo_msgs/ContactsState outputted by the sensor_bumpers and computes the average contact position and normal direction for a given target object. If the phalange is not in contact, the contact pose defaults to a predefined pose. Also, the contact pose expressed in the target object frame is computed. Note, that presently the published geometry_msgs/StampedPose message can create problems when visualizing in Rviz. This is due to the fact that Rviz only buffers 5 geometry_msgs/StampedPose msgs and proper tf transformations might not be available at the time the contact pose is published. This can be fixed by increasing the buffer size in rviz/src/rviz/default_plugin/pose_display.cpp and recompiling Rviz. Currently (in ROS Electric) there is no way to increase Rviz's tf::MessageFilter queue at runtime. Also using a topic_tools/throttle should fix the problem (did not test it though...) |
| ICR::PoseBroadcaster | Class aquiring object poses from a pose source and broadcasting the object's pose to tf |