Public Member Functions
	GraspAdjustServer (char *argv[])
	Default contructor.
Private Types
typedef pr2_grasp_adjust::EstimateConfig	Config
typedef pr2_grasp_adjust::DebugConfig	Debug
Private Member Functions
void	cloud_callback (const sensor_msgs::PointCloud2ConstPtr &input)
	Callback for receiving a point cloud.
void	debugCallback (Debug &new_config, uint32_t id)
	Callback for setting debug gripper poses through dynamic reconfigure.
void	dynamicCallback (Config &new_config, uint32_t id)
	Callback for setting algorithm params, such as weights, through dynamic reconfigure.
geometry_msgs::PoseStamped	generateRelativePose (geometry_msgs::PoseStamped original_pose, double roll, double pitch, double yaw, double xdist, double ydist, double zdist)
bool	graspAdjustCallback (pr2_grasp_adjust::GraspAdjust::Request &req, pr2_grasp_adjust::GraspAdjust::Response &res)
	Service callback for the grasp adjust service.
bool	graspEvaluateCallback (object_manipulation_msgs::GraspPlanning::Request &req, object_manipulation_msgs::GraspPlanning::Response &res)
	Service callback for the grasp evaluate service.
bool	graspPlanCallback (object_manipulation_msgs::GraspPlanning::Request &req, object_manipulation_msgs::GraspPlanning::Response &res)
	Service callback for the grasp planning service.
void	setupGraspPlanning (object_manipulation_msgs::GraspPlanning::Request &req, pcl::PointCloud< PointT > &cloud)
	Find normals for the input cluster and generate the pcl::PointCloud.
void	timerCallback ()
	The timer callback allows you to run the adjustment algorithm continuously.
Private Attributes
ros::ServiceServer	adjust_srv_
object_manipulator::ServiceWrapper < object_manipulation_msgs::FindClusterBoundingBox >	bounding_box_client_
tf::TransformBroadcaster	broadcaster_
dynamic_reconfigure::Server < Debug >::CallbackType	debug_cb
dynamic_reconfigure::Server < Debug >	debug_srv
dynamic_reconfigure::Server < Config >::CallbackType	dyn_cb
dynamic_reconfigure::Server < Config >	dyn_srv
ros::ServiceServer	evaluate_srv_
bool	got_first_cloud_
GraspAdjust	grasp_adjust_
std::string	input_topic_
pcl::PointCloud< PointT >	last_cloud_
tf::TransformListener	listener_
ros::NodeHandle	nh_
ros::NodeHandle	nh_pvt_
ros::Time	now_
std::string	output_topic_
ros::ServiceServer	plan_srv_
ros::Publisher	pub_cloud_
ros::Publisher	pub_cloud_debug_2
ros::Publisher	pub_cloud_roi_
ros::Publisher	pub_marker_
ros::Publisher	pub_marker_array_
ros::Subscriber	sub_cloud_
std::ofstream	train_file_
bool	training_
ros::Timer	update_timer_

Detailed Description

Definition at line 99 of file grasp_adjust_server.cpp.

Member Typedef Documentation

typedef pr2_grasp_adjust::EstimateConfig GraspAdjustServer::Config [private]

Definition at line 124 of file grasp_adjust_server.cpp.

typedef pr2_grasp_adjust::DebugConfig GraspAdjustServer::Debug [private]

Definition at line 128 of file grasp_adjust_server.cpp.

Constructor & Destructor Documentation

GraspAdjustServer::GraspAdjustServer ( char * argv[] ) [inline]

Default contructor.

Definition at line 143 of file grasp_adjust_server.cpp.

Member Function Documentation

void GraspAdjustServer::cloud_callback ( const sensor_msgs::PointCloud2ConstPtr & input ) [inline, private]

Callback for receiving a point cloud.

Definition at line 530 of file grasp_adjust_server.cpp.

void GraspAdjustServer::debugCallback	(	Debug &	new_config,
		uint32_t	id
	)		`[inline, private]`

Callback for setting debug gripper poses through dynamic reconfigure.

Definition at line 588 of file grasp_adjust_server.cpp.

void GraspAdjustServer::dynamicCallback	(	Config &	new_config,
		uint32_t	id
	)		`[inline, private]`

Callback for setting algorithm params, such as weights, through dynamic reconfigure.

Definition at line 550 of file grasp_adjust_server.cpp.

geometry_msgs::PoseStamped GraspAdjustServer::generateRelativePose	(	geometry_msgs::PoseStamped	original_pose,
		double	roll,
		double	pitch,
		double	yaw,
		double	xdist,
		double	ydist,
		double	zdist
	)		`[inline, private]`

Generate a new PoseStamped message whose pose is relative to original_pose

Definition at line 315 of file grasp_adjust_server.cpp.

bool GraspAdjustServer::graspAdjustCallback	(	pr2_grasp_adjust::GraspAdjust::Request &	req,
		pr2_grasp_adjust::GraspAdjust::Response &	res
	)		`[inline, private]`

Service callback for the grasp adjust service.

Parameters:

req	The GraspAdjust service request
res	The GraspAdjust response

Definition at line 261 of file grasp_adjust_server.cpp.

bool GraspAdjustServer::graspEvaluateCallback	(	object_manipulation_msgs::GraspPlanning::Request &	req,
		object_manipulation_msgs::GraspPlanning::Response &	res
	)		`[inline, private]`

Service callback for the grasp evaluate service.

Parameters:

req	The GraspPlanning service request
res	The GraspPlanning response

Definition at line 459 of file grasp_adjust_server.cpp.

bool GraspAdjustServer::graspPlanCallback	(	object_manipulation_msgs::GraspPlanning::Request &	req,
		object_manipulation_msgs::GraspPlanning::Response &	res
	)		`[inline, private]`

Service callback for the grasp planning service.

Parameters:

req	The GraspPlanning service request
res	The GraspPlanning response

Definition at line 334 of file grasp_adjust_server.cpp.

void GraspAdjustServer::setupGraspPlanning	(	object_manipulation_msgs::GraspPlanning::Request &	req,
		pcl::PointCloud< PointT > &	cloud
	)		`[inline, private]`