edu.tum.cs.ias.knowrob.tutorial.ROSClient Class Reference

List of all members.

Public Member Functions
TabletopDetectionResult	callTabletopObjDetection ()
	ROSClient (String node_name)
Static Public Member Functions
static void	main (String[] args)
static double[]	objectPose (DatabaseModelPose p)
Static Protected Member Functions
static void	initRos (String node_name)
static double[]	quaternionToMatrix (Point p, Quaternion q)
Static Package Attributes
static NodeHandle	n
static Ros	ros
static Boolean	rosInitialized = false

---

Detailed Description

Definition at line 28 of file ROSClient.java.

---

Constructor & Destructor Documentation

edu.tum.cs.ias.knowrob.tutorial.ROSClient.ROSClient

(

String

node_name

)

[inline]

Constructor: initializes the ROS environment

Parameters:

node_name

A unique node name

Definition at line 40 of file ROSClient.java.

---

Member Function Documentation

TabletopDetectionResult edu.tum.cs.ias.knowrob.tutorial.ROSClient.callTabletopObjDetection

(

)

[inline]

Call the tabletop_object_detector service and return the result

Returns:

An instance of TabletopDetectionResult with the objects detected on the table

Definition at line 66 of file ROSClient.java.

static void edu.tum.cs.ias.knowrob.tutorial.ROSClient.initRos

(

String

node_name

)

[inline, static, protected]

Initialize the ROS environment if it has not yet been initialized

Parameters:

node_name

A unique node name

Definition at line 50 of file ROSClient.java.

static void edu.tum.cs.ias.knowrob.tutorial.ROSClient.main

(

String[]

args

)

[inline, static]

Definition at line 143 of file ROSClient.java.

static double [] edu.tum.cs.ias.knowrob.tutorial.ROSClient.objectPose

(

DatabaseModelPose

p

)

[inline, static]

Read the pose of an object from the DatabaseModelPose (detection result)

Parameters:

p	A detected object as DatabaseModelPose

Returns:

Row-based 4x4 pose matrix representation

Definition at line 87 of file ROSClient.java.

static double [] edu.tum.cs.ias.knowrob.tutorial.ROSClient.quaternionToMatrix	(	Point	p,
		Quaternion	q
	)		[inline, static, protected]

Convert point/quaternion into a 4x4 pose matrix

Parameters:

p	Point (position)
q	Quaternion (orientation)

Returns:

4x4 pose matrix, row-based

Definition at line 100 of file ROSClient.java.

---

Member Data Documentation

NodeHandle edu.tum.cs.ias.knowrob.tutorial.ROSClient.n [static, package]

Definition at line 32 of file ROSClient.java.

Ros edu.tum.cs.ias.knowrob.tutorial.ROSClient.ros [static, package]

Definition at line 31 of file ROSClient.java.

Boolean edu.tum.cs.ias.knowrob.tutorial.ROSClient.rosInitialized = false [static, package]

Definition at line 30 of file ROSClient.java.

---

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

• ROSClient.java