Public Member Functions | Public Attributes | Protected Attributes
CCalc_Grasppoints Class Reference

List of all members.

Public Member Functions

void calc_featurevectors (int roll, int tilt)
void calc_intimage (int roll, int tilt)
 CCalc_Grasppoints (string name)
void generate_grid (int roll, int tilt, pcl::PointCloud< pcl::PointXYZ > pcl_cloud_in)
void gp_to_marker (visualization_msgs::Marker *marker, float x, float y, float z, float green, bool pubmarker, int gripperwidth, int nr_roll, bool pub_grip_open_dir, bool pub_grid)
void grasp_area_to_marker (visualization_msgs::Marker *marker, float x, float y, float z, int gripperwidth, int nr_roll, int param_id, bool top_grasp)
void loop_control (pcl::PointCloud< pcl::PointXYZ > pcl_cloud_in)
void pnt_in_box (int nr_roll, int nr_tilt)
void predict_bestgp_withsvm (bool svm_with_probability=false)
void print_heights (int nr_roll, int nr_tilt)
void publish_grasp_grid (int nr_roll, int tilt, float graspsgrid[][WIDTH], int gripperwidth)
void publish_transformed_pcl_cloud (int roll, int tilt, pcl::PointCloud< pcl::PointXYZ > pcl_cloud_in)
void read_pc_cb (const haf_grasping::CalcGraspPointsServerGoalConstPtr &goal)
void show_predicted_gps (int nr_roll, int tilt, bool svm_with_probability=false)
void transform_gp_in_wcs_and_publish (int id_row_top_all, int id_col_top_all, int nr_roll_top_all, int nr_tilt_top_all, int scaled_gp_eval)

Public Attributes

geometry_msgs::Vector3 approach_vector
Eigen::Matrix4f av_trans_mat
string base_frame_id
ros::Subscriber box_position_sub
float boxrot_angle_init
string feature_file_path
haf_grasping::GraspOutput gp_result
int grasp_search_area_size_x_dir
int grasp_search_area_size_y_dir
geometry_msgs::Point graspsearchcenter
int graspval_max_diff_for_pub
int graspval_th
int graspval_top
int gripper_opening_width
float heightsgridroll [ROLL_MAX_DEGREE/ROLL_STEPS_DEGREE][TILT_STEPS][HEIGHT][WIDTH]
int id_col_top_overall
int id_row_top_overall
float integralimageroll [ROLL_MAX_DEGREE/ROLL_STEPS_DEGREE][TILT_STEPS][HEIGHT+1][WIDTH+1]
int marker_cnt
float max_duration_for_grasp_calc
int nr_features_without_shaf
int nr_roll_top_overall
int nr_tilt_top_overall
string outputpath_full
ros::Subscriber pc_sub
bool point_inside_box_grid [ROLL_MAX_DEGREE/ROLL_STEPS_DEGREE][TILT_STEPS][HEIGHT][WIDTH]
bool print_heights_bool
ros::Publisher pubGraspPoints
ros::Publisher pubGraspPointsEval
ros::Publisher pubInputPCROS
ros::Publisher pubTransformedPCROS
tf::Quaternion quat_tf_to_tf_help
string range_file_path
bool return_only_best_gp
string svmmodel_file_path
tf::TransformListener tf_listener
int topval_gp_overall
float trans_z_after_pc_transform
ros::Publisher vis_pub
ros::Publisher vis_pub_ma
ros::Publisher vis_pub_ma_params
bool visualization

Protected Attributes

std::string action_name_
actionlib::SimpleActionServer
< haf_grasping::CalcGraspPointsServerAction > 
as_
haf_grasping::CalcGraspPointsServerFeedback feedback_
ros::NodeHandle nh_
haf_grasping::CalcGraspPointsServerResult result_

Detailed Description

Definition at line 104 of file calc_grasppoints_action_server.cpp.


Constructor & Destructor Documentation

CCalc_Grasppoints::CCalc_Grasppoints ( string  name) [inline]

Definition at line 178 of file calc_grasppoints_action_server.cpp.


Member Function Documentation

void CCalc_Grasppoints::calc_featurevectors ( int  roll,
int  tilt 
)

Definition at line 613 of file calc_grasppoints_action_server.cpp.

void CCalc_Grasppoints::calc_intimage ( int  roll,
int  tilt 
)

Definition at line 574 of file calc_grasppoints_action_server.cpp.

void CCalc_Grasppoints::generate_grid ( int  roll,
int  tilt,
pcl::PointCloud< pcl::PointXYZ >  pcl_cloud_in 
)

Definition at line 403 of file calc_grasppoints_action_server.cpp.

void CCalc_Grasppoints::gp_to_marker ( visualization_msgs::Marker *  marker,
float  x,
float  y,
float  z,
float  green,
bool  pubmarker,
int  gripperwidth = 1,
int  nr_roll = 0,
bool  pub_grip_open_dir = false,
bool  pub_grid = true 
)

Definition at line 1017 of file calc_grasppoints_action_server.cpp.

void CCalc_Grasppoints::grasp_area_to_marker ( visualization_msgs::Marker *  marker,
float  x,
float  y,
float  z,
int  gripperwidth = 1,
int  nr_roll = 0,
int  param_id = 1,
bool  top_grasp = false 
)

!!!!!!!!!!!!!!!!

Definition at line 1142 of file calc_grasppoints_action_server.cpp.

void CCalc_Grasppoints::loop_control ( pcl::PointCloud< pcl::PointXYZ >  pcl_cloud_in)

Definition at line 332 of file calc_grasppoints_action_server.cpp.

void CCalc_Grasppoints::pnt_in_box ( int  nr_roll,
int  nr_tilt 
)

Definition at line 663 of file calc_grasppoints_action_server.cpp.

void CCalc_Grasppoints::predict_bestgp_withsvm ( bool  svm_with_probability = false)

Definition at line 751 of file calc_grasppoints_action_server.cpp.

void CCalc_Grasppoints::print_heights ( int  nr_roll,
int  nr_tilt 
)

Definition at line 231 of file calc_grasppoints_action_server.cpp.

void CCalc_Grasppoints::publish_grasp_grid ( int  nr_roll,
int  tilt,
float  graspsgrid[][WIDTH],
int  gripperwidth = 1 
)

Definition at line 976 of file calc_grasppoints_action_server.cpp.

void CCalc_Grasppoints::publish_transformed_pcl_cloud ( int  roll,
int  tilt,
pcl::PointCloud< pcl::PointXYZ >  pcl_cloud_in 
)

Definition at line 530 of file calc_grasppoints_action_server.cpp.

void CCalc_Grasppoints::read_pc_cb ( const haf_grasping::CalcGraspPointsServerGoalConstPtr &  goal)

Definition at line 247 of file calc_grasppoints_action_server.cpp.

void CCalc_Grasppoints::show_predicted_gps ( int  nr_roll,
int  tilt,
bool  svm_with_probability = false 
)

Definition at line 800 of file calc_grasppoints_action_server.cpp.

void CCalc_Grasppoints::transform_gp_in_wcs_and_publish ( int  id_row_top_all,
int  id_col_top_all,
int  nr_roll_top_all,
int  nr_tilt_top_all,
int  scaled_gp_eval 
)

Definition at line 1271 of file calc_grasppoints_action_server.cpp.


Member Data Documentation

std::string CCalc_Grasppoints::action_name_ [protected]

Definition at line 111 of file calc_grasppoints_action_server.cpp.

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actionlib::SimpleActionServer<haf_grasping::CalcGraspPointsServerAction> CCalc_Grasppoints::as_ [protected]

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haf_grasping::CalcGraspPointsServerFeedback CCalc_Grasppoints::feedback_ [protected]

Definition at line 113 of file calc_grasppoints_action_server.cpp.

haf_grasping::GraspOutput CCalc_Grasppoints::gp_result

Definition at line 149 of file calc_grasppoints_action_server.cpp.

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haf_grasping::CalcGraspPointsServerResult CCalc_Grasppoints::result_ [protected]

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


haf_grasping
Author(s): David Fischinger
autogenerated on Thu Jun 6 2019 18:35:09