Public Member Functions | Private Member Functions | Private Attributes
ICR::ModelServer Class Reference

#include <model_server.h>

List of all members.

Public Member Functions

 ModelServer ()
void spin ()
 ~ModelServer ()

Private Member Functions

bool gazeboDeleteModel (std::string const &name)
bool gazeboSpawnModel (std::string const &serialized_model, geometry_msgs::Pose const &initial_pose)
bool loadObject (icr_msgs::LoadObject::Request &req, icr_msgs::LoadObject::Response &res)
 Spawns the given urdf model as "icr_object" in gazebo, if such an object already exists it is deleted. Also, the urdf file is pushed onto the parameter server.
bool loadURDF (std::string const &path, std::string &serialized_model)
bool loadWavefrontObj (std::string const &path, pcl::PointCloud< pcl::PointNormal > &cloud, std::vector< std::vector< unsigned int > > &neighbors)

Private Attributes

ros::ServiceClient gazebo_delete_clt_
ros::ServiceClient gazebo_get_wp_clt_
ros::ServiceClient gazebo_pause_clt_
ros::ServiceClient gazebo_spawn_clt_
ros::ServiceClient gazebo_unpause_clt_
ros::ServiceServer load_obj_srv_
boost::mutex lock_
std::string model_dir_
ros::NodeHandle nh_
ros::NodeHandle nh_private_
icr_msgs::Object::Ptr obj_
std::string obj_frame_id_
bool obj_loaded_
std::string obj_name_
boost::shared_ptr
< PoseBroadcaster
pose_brc_
std::string pose_source_
double scale_
std::vector< boost::shared_ptr
< ros::ServiceClient > > 
set_obj_clts_

Detailed Description

Definition at line 35 of file model_server.h.


Constructor & Destructor Documentation

Definition at line 17 of file model_server.cpp.

Definition at line 40 of file model_server.h.


Member Function Documentation

bool ICR::ModelServer::gazeboDeleteModel ( std::string const &  name) [private]

Definition at line 237 of file model_server.cpp.

bool ICR::ModelServer::gazeboSpawnModel ( std::string const &  serialized_model,
geometry_msgs::Pose const &  initial_pose 
) [private]

Definition at line 212 of file model_server.cpp.

bool ICR::ModelServer::loadObject ( icr_msgs::LoadObject::Request &  req,
icr_msgs::LoadObject::Response &  res 
) [private]

Spawns the given urdf model as "icr_object" in gazebo, if such an object already exists it is deleted. Also, the urdf file is pushed onto the parameter server.

Definition at line 73 of file model_server.cpp.

bool ICR::ModelServer::loadURDF ( std::string const &  path,
std::string &  serialized_model 
) [private]

Definition at line 175 of file model_server.cpp.

bool ICR::ModelServer::loadWavefrontObj ( std::string const &  path,
pcl::PointCloud< pcl::PointNormal > &  cloud,
std::vector< std::vector< unsigned int > > &  neighbors 
) [private]

Definition at line 271 of file model_server.cpp.

Definition at line 166 of file model_server.cpp.


Member Data Documentation

ros::ServiceClient ICR::ModelServer::gazebo_delete_clt_ [private]

Definition at line 61 of file model_server.h.

ros::ServiceClient ICR::ModelServer::gazebo_get_wp_clt_ [private]

Definition at line 64 of file model_server.h.

ros::ServiceClient ICR::ModelServer::gazebo_pause_clt_ [private]

Definition at line 62 of file model_server.h.

ros::ServiceClient ICR::ModelServer::gazebo_spawn_clt_ [private]

Definition at line 60 of file model_server.h.

ros::ServiceClient ICR::ModelServer::gazebo_unpause_clt_ [private]

Definition at line 63 of file model_server.h.

ros::ServiceServer ICR::ModelServer::load_obj_srv_ [private]

Definition at line 59 of file model_server.h.

Definition at line 47 of file model_server.h.

std::string ICR::ModelServer::model_dir_ [private]

Definition at line 50 of file model_server.h.

ros::NodeHandle ICR::ModelServer::nh_ [private]

Definition at line 46 of file model_server.h.

ros::NodeHandle ICR::ModelServer::nh_private_ [private]

Definition at line 46 of file model_server.h.

icr_msgs::Object::Ptr ICR::ModelServer::obj_ [private]

Definition at line 55 of file model_server.h.

std::string ICR::ModelServer::obj_frame_id_ [private]

Definition at line 52 of file model_server.h.

Definition at line 57 of file model_server.h.

std::string ICR::ModelServer::obj_name_ [private]

Definition at line 51 of file model_server.h.

boost::shared_ptr<PoseBroadcaster> ICR::ModelServer::pose_brc_ [private]

Definition at line 54 of file model_server.h.

std::string ICR::ModelServer::pose_source_ [private]

Definition at line 53 of file model_server.h.

double ICR::ModelServer::scale_ [private]

Definition at line 56 of file model_server.h.

std::vector<boost::shared_ptr<ros::ServiceClient> > ICR::ModelServer::set_obj_clts_ [private]

Definition at line 65 of file model_server.h.


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


icr
Author(s): Robert Krug
autogenerated on Mon Jan 6 2014 11:36:10