Public Member Functions | Private Member Functions | Private Attributes
ObjectsDatabaseNode Class Reference

Wraps around database connection to provide database-related services through ROS. More...

List of all members.

Public Member Functions

 ObjectsDatabaseNode ()
 ~ObjectsDatabaseNode ()

Private Member Functions

bool getDescriptionCB (GetModelDescription::Request &request, GetModelDescription::Response &response)
 Callback for the get description service.
bool getGrasps (const GraspableObject &target, const std::string &arm_name, std::vector< Grasp > &grasps, GraspPlanningErrorCode &error_code)
bool getMeshCB (GetModelMesh::Request &request, GetModelMesh::Response &response)
 Callback for the get mesh service.
bool getModelsCB (GetModelList::Request &request, GetModelList::Response &response)
 Callback for the get models service.
bool getScansCB (GetModelScans::Request &request, GetModelScans::Response &response)
void graspPlanningActionCB (const object_manipulation_msgs::GraspPlanningGoalConstPtr &goal)
bool graspPlanningCB (GraspPlanning::Request &request, GraspPlanning::Response &response)
 Callback for the get grasps service.
geometry_msgs::Pose multiplyPoses (const geometry_msgs::Pose &p1, const geometry_msgs::Pose &p2)
bool saveScanCB (SaveScan::Request &request, SaveScan::Response &response)
bool translateIdCB (TranslateRecognitionId::Request &request, TranslateRecognitionId::Response &response)

Private Attributes

ObjectsDatabasedatabase_
 The database connection itself.
ros::ServiceServer get_description_srv_
 Server for the get description service.
ros::ServiceServer get_mesh_srv_
 Server for the get mesh service.
ros::ServiceServer get_models_srv_
 Server for the get models service.
ros::ServiceServer get_scans_srv_
 Server for the get scans service.
std::string grasp_ordering_method_
 How to order grasps received from database.
actionlib::SimpleActionServer
< object_manipulation_msgs::GraspPlanningAction > * 
grasp_planning_server_
 The action server for grasping planning.
ros::ServiceServer grasp_planning_srv_
 Server for the get grasps service.
tf::TransformListener listener_
 Transform listener.
ros::NodeHandle priv_nh_
 Node handle in the private namespace.
ros::NodeHandle root_nh_
 Node handle in the root namespace.
ros::ServiceServer save_scan_srv_
 Server for the save scan service.
ros::ServiceServer translate_id_srv_
 Server for the id translation service.

Detailed Description

Wraps around database connection to provide database-related services through ROS.

Contains very thin wrappers for getting a list of scaled models and for getting the mesh of a model, as well as a complete server for the grasp planning service

Definition at line 145 of file objects_database_node.cpp.


Constructor & Destructor Documentation

Definition at line 513 of file objects_database_node.cpp.

Definition at line 558 of file objects_database_node.cpp.


Member Function Documentation

Callback for the get description service.

Definition at line 256 of file objects_database_node.cpp.

bool ObjectsDatabaseNode::getGrasps ( const GraspableObject target,
const std::string &  arm_name,
std::vector< Grasp > &  grasps,
GraspPlanningErrorCode error_code 
) [inline, private]

Definition at line 328 of file objects_database_node.cpp.

bool ObjectsDatabaseNode::getMeshCB ( GetModelMesh::Request request,
GetModelMesh::Response response 
) [inline, private]

Callback for the get mesh service.

Definition at line 239 of file objects_database_node.cpp.

bool ObjectsDatabaseNode::getModelsCB ( GetModelList::Request request,
GetModelList::Response response 
) [inline, private]

Callback for the get models service.

Definition at line 217 of file objects_database_node.cpp.

bool ObjectsDatabaseNode::getScansCB ( GetModelScans::Request request,
GetModelScans::Response response 
) [inline, private]

Definition at line 280 of file objects_database_node.cpp.

Definition at line 479 of file objects_database_node.cpp.

bool ObjectsDatabaseNode::graspPlanningCB ( GraspPlanning::Request request,
GraspPlanning::Response response 
) [inline, private]

Callback for the get grasps service.

Definition at line 473 of file objects_database_node.cpp.

Definition at line 314 of file objects_database_node.cpp.

bool ObjectsDatabaseNode::saveScanCB ( SaveScan::Request request,
SaveScan::Response response 
) [inline, private]

Definition at line 294 of file objects_database_node.cpp.

Definition at line 188 of file objects_database_node.cpp.


Member Data Documentation

The database connection itself.

Definition at line 179 of file objects_database_node.cpp.

Server for the get description service.

Definition at line 161 of file objects_database_node.cpp.

Server for the get mesh service.

Definition at line 158 of file objects_database_node.cpp.

Server for the get models service.

Definition at line 155 of file objects_database_node.cpp.

Server for the get scans service.

Definition at line 170 of file objects_database_node.cpp.

How to order grasps received from database.

Possible values: "random" or "quality"

Definition at line 186 of file objects_database_node.cpp.

The action server for grasping planning.

Definition at line 167 of file objects_database_node.cpp.

Server for the get grasps service.

Definition at line 164 of file objects_database_node.cpp.

Transform listener.

Definition at line 182 of file objects_database_node.cpp.

Node handle in the private namespace.

Definition at line 149 of file objects_database_node.cpp.

Node handle in the root namespace.

Definition at line 152 of file objects_database_node.cpp.

Server for the save scan service.

Definition at line 173 of file objects_database_node.cpp.

Server for the id translation service.

Definition at line 176 of file objects_database_node.cpp.


The documentation for this class was generated from the following file:
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household_objects_database
Author(s): Matei Ciocarlie, except for source files individually marked otherwise
autogenerated on Fri Jan 25 2013 15:02:10