kinect_teleop.cpp File Reference

#include <math.h>
#include <vector>
#include <ros/ros.h>
#include <ros/package.h>
#include <pr2_controllers_msgs/JointTrajectoryAction.h>
#include <actionlib/client/simple_action_client.h>
#include <tf/transform_broadcaster.h>
#include <kdl/frames.hpp>
#include <std_msgs/String.h>
#include <geometry_msgs/Twist.h>
#include <Eigen/Core>
#include <XnOpenNI.h>
#include <XnCodecIDs.h>
#include <XnCppWrapper.h>

Include dependency graph for kinect_teleop.cpp:

Go to the source code of this file.

Classes
struct	pr2_joint
class	TeleopPR2Ni
Defines
#define	CHECK_RC(nRetVal, what)
#define	my_pi   3.141592653589793
Typedefs
typedef actionlib::SimpleActionClient < pr2_controllers_msgs::JointTrajectoryAction >	TrajClient
typedef std::vector< std::pair < Eigen::VectorXd, Eigen::VectorXd > >	Trajectory
Functions
void	checkPose (TeleopPR2Ni &obj)
float	getAngleBetweenLimbs (XnUserID const &user, XnSkeletonJoint const &eJoint1, XnSkeletonJoint const &eJoint2, XnSkeletonJoint const &eJoint3, XnSkeletonJoint const &eJoint4)
XnPoint3D	getBodyLoc (XnUserID const &user, XnSkeletonJoint const &eJoint1)
float	getLimbAngle (XnUserID const &user, XnSkeletonJoint const &eJoint1, XnSkeletonJoint const &eJoint2, XnSkeletonJoint const &eJoint3)
float	getTorsoRotation (XnUserID const &user, XnSkeletonJoint const &eJoint1, XnSkeletonJoint const &eJoint2)
int	main (int argc, char **argv)
void XN_CALLBACK_TYPE	User_LostUser (xn::UserGenerator &generator, XnUserID nId, void *pCookie)
void XN_CALLBACK_TYPE	User_NewUser (xn::UserGenerator &generator, XnUserID nId, void *pCookie)
void XN_CALLBACK_TYPE	UserCalibration_CalibrationEnd (xn::SkeletonCapability &capability, XnUserID nId, XnBool bSuccess, void *pCookie)
void XN_CALLBACK_TYPE	UserCalibration_CalibrationStart (xn::SkeletonCapability &capability, XnUserID nId, void *pCookie)
void XN_CALLBACK_TYPE	UserPose_PoseDetected (xn::PoseDetectionCapability &capability, XnChar const *strPose, XnUserID nId, void *pCookie)
Variables
TrajClient *	arm_client_l
TrajClient *	arm_client_r
XnBool	g_bNeedPose = FALSE
xn::Context	g_Context
xn::DepthGenerator	g_DepthGenerator
XnChar	g_strPose [20] = ""
xn::UserGenerator	g_UserGenerator
XnPoint3D	init_usr_loc
XnPoint3D	init_usr_LS
XnPoint3D	init_usr_RS

---

Define Documentation

#define CHECK_RC	(		nRetVal,
			what
	)

Value:

if (nRetVal != XN_STATUS_OK)                                          \
    {                                                                   \
      printf("%s failed: %s\n", what, xnGetStatusString(nRetVal));      \
      return nRetVal;                                                   \
    }

Definition at line 53 of file kinect_teleop.cpp.

#define my_pi   3.141592653589793

Author Jan Wuelfing and Tobias Springenberg

Please note that parts of the angle calculation were taken from the veltrobot teleop implementation which can be found at http://www.ros.org/wiki/veltrobot_teleop

Definition at line 31 of file kinect_teleop.cpp.

---

Typedef Documentation

typedef actionlib::SimpleActionClient<pr2_controllers_msgs::JointTrajectoryAction> TrajClient

Definition at line 35 of file kinect_teleop.cpp.

typedef std::vector<std::pair<Eigen::VectorXd, Eigen::VectorXd> > Trajectory

Definition at line 36 of file kinect_teleop.cpp.

---

Function Documentation

void checkPose

(

TeleopPR2Ni &

obj

)

Definition at line 552 of file kinect_teleop.cpp.

float getAngleBetweenLimbs	(	XnUserID const &	user,
		XnSkeletonJoint const &	eJoint1,
		XnSkeletonJoint const &	eJoint2,
		XnSkeletonJoint const &	eJoint3,
		XnSkeletonJoint const &	eJoint4
	)

Definition at line 332 of file kinect_teleop.cpp.

XnPoint3D getBodyLoc	(	XnUserID const &	user,
		XnSkeletonJoint const &	eJoint1
	)

Definition at line 298 of file kinect_teleop.cpp.

float getLimbAngle	(	XnUserID const &	user,
		XnSkeletonJoint const &	eJoint1,
		XnSkeletonJoint const &	eJoint2,
		XnSkeletonJoint const &	eJoint3
	)

Definition at line 412 of file kinect_teleop.cpp.

float getTorsoRotation	(	XnUserID const &	user,
		XnSkeletonJoint const &	eJoint1,
		XnSkeletonJoint const &	eJoint2
	)

Definition at line 486 of file kinect_teleop.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 673 of file kinect_teleop.cpp.

void XN_CALLBACK_TYPE User_LostUser	(	xn::UserGenerator &	generator,
		XnUserID	nId,
		void *	pCookie
	)

Definition at line 263 of file kinect_teleop.cpp.

void XN_CALLBACK_TYPE User_NewUser	(	xn::UserGenerator &	generator,
		XnUserID	nId,
		void *	pCookie
	)

Definition at line 254 of file kinect_teleop.cpp.

void XN_CALLBACK_TYPE UserCalibration_CalibrationEnd	(	xn::SkeletonCapability &	capability,
		XnUserID	nId,
		XnBool	bSuccess,
		void *	pCookie
	)

Definition at line 273 of file kinect_teleop.cpp.

void XN_CALLBACK_TYPE UserCalibration_CalibrationStart	(	xn::SkeletonCapability &	capability,
		XnUserID	nId,
		void *	pCookie
	)

Definition at line 268 of file kinect_teleop.cpp.

void XN_CALLBACK_TYPE UserPose_PoseDetected	(	xn::PoseDetectionCapability &	capability,
		XnChar const *	strPose,
		XnUserID	nId,
		void *	pCookie
	)

Definition at line 290 of file kinect_teleop.cpp.

---

Variable Documentation

TrajClient* arm_client_l

Definition at line 38 of file kinect_teleop.cpp.

TrajClient* arm_client_r

Definition at line 37 of file kinect_teleop.cpp.

XnBool g_bNeedPose = FALSE

Definition at line 49 of file kinect_teleop.cpp.

xn::Context g_Context

Definition at line 41 of file kinect_teleop.cpp.

xn::DepthGenerator g_DepthGenerator

Definition at line 42 of file kinect_teleop.cpp.

XnChar g_strPose[20] = ""

Definition at line 50 of file kinect_teleop.cpp.

xn::UserGenerator g_UserGenerator

Definition at line 43 of file kinect_teleop.cpp.

XnPoint3D init_usr_loc

Definition at line 45 of file kinect_teleop.cpp.

XnPoint3D init_usr_LS

Definition at line 47 of file kinect_teleop.cpp.

XnPoint3D init_usr_RS

Definition at line 46 of file kinect_teleop.cpp.