#include <rc_hand_eye_calibration_client.h>

Public Member Functions
	HandEyeCalibClient (std::string host, ros::NodeHandle nh)

Private Member Functions
void	advertiseServices ()
	Advertises the services in the namespace of nh_. More...

void	calibResponseHandler (CalibrationResponse &res)
	update and broadcast the internally cached calibration result. More...

bool	calibSrv (rc_hand_eye_calibration_client::CalibrationRequest &req, rc_hand_eye_calibration_client::CalibrationResponse &res)
	Perform the calibration and return its result. More...

template<typename Request , typename Response >
bool	callService (const std::string &name, const Request &req, Response &res)

void	dynamicReconfigureCb (rc_hand_eye_calibration_client::hand_eye_calibrationConfig &config, uint32_t)

bool	getCalibResultSrv (rc_hand_eye_calibration_client::CalibrationRequest &req, rc_hand_eye_calibration_client::CalibrationResponse &res)
	Service call to get the result. Also returned directly via calibrate. More...

void	initConfiguration ()

void	initTimers ()
	Initialize timers to periodically publish and/or request the calibration Depends on parameters: calibration_publication_period and calibration_request_period. More...

bool	removeSrv (rc_hand_eye_calibration_client::TriggerRequest &req, rc_hand_eye_calibration_client::TriggerResponse &res)
	Remove calibration so sensor reports as uncalibrated. More...

void	requestCalibration (const ros::SteadyTimerEvent &)
	Wraps the above getCalibResultSrv. More...

bool	resetSrv (rc_hand_eye_calibration_client::TriggerRequest &req, rc_hand_eye_calibration_client::TriggerResponse &res)
	Delete all stored data, e.g., to start over. More...

bool	saveSrv (rc_hand_eye_calibration_client::TriggerRequest &req, rc_hand_eye_calibration_client::TriggerResponse &res)
	store hand eye calibration on sensor More...

void	sendCachedCalibration (const ros::SteadyTimerEvent &=ros::SteadyTimerEvent())

bool	setCalibSrv (rc_hand_eye_calibration_client::SetCalibrationRequest &req, rc_hand_eye_calibration_client::SetCalibrationResponse &res)
	Service call to set the calibration. More...

bool	setSlotSrv (rc_hand_eye_calibration_client::SetCalibrationPoseRequest &req, rc_hand_eye_calibration_client::SetCalibrationPoseResponse &res)
	Save given pose and the pose of the grid indexed by the given request.slot. More...

void	updateCalibrationCache (const rc_hand_eye_calibration_client::CalibrationResponse &res)
	Copy resp into current_calibration_. More...

Private Attributes
std::string	base_frame_id_ = "base_link"

double	calib_publish_period_ = 0.0
	Whether to send the transformation periodically instead of as a static transformation Zero or negative value: static tf (via latched topic, sends updates on new calibration response) More...

ros::SteadyTimer	calib_publish_timer_

double	calib_request_period_ = 0.0
	If non-negative: Periodically update the calibration by requesting it. More...

ros::SteadyTimer	calib_request_timer_

std::string	camera_frame_id_ = "camera"
	Default Frame Ids to be used for the tf broadcast. More...

geometry_msgs::TransformStamped	current_calibration_

tf2_ros::TransformBroadcaster	dynamic_tf2_broadcaster_
	To be used for periodic sending. More...

std::string	endeff_frame_id_ = "end_effector"
	Which one is used depends on the value of "robot_mounted" in the calibration response. More...

std::tuple< size_t, size_t, size_t >	image_version_

ros::NodeHandle	nh_

rc_rest_api::RestHelper	rest_helper_

std::unique_ptr< dynamic_reconfigure::Server< rc_hand_eye_calibration_client::hand_eye_calibrationConfig > >	server_

ros::ServiceServer	srv_calibrate_

ros::ServiceServer	srv_get_result_

ros::ServiceServer	srv_publish_transform_

ros::ServiceServer	srv_remove_

ros::ServiceServer	srv_reset_

ros::ServiceServer	srv_save_

ros::ServiceServer	srv_set_calibration_

ros::ServiceServer	srv_set_slot_

tf2_ros::StaticTransformBroadcaster	static_tf2_broadcaster_
	To be used for on-change sending only. More...

Detailed Description

Definition at line 55 of file rc_hand_eye_calibration_client.h.

Constructor & Destructor Documentation

rc_hand_eye_calibration_client::HandEyeCalibClient::HandEyeCalibClient	(	std::string	host,
		ros::NodeHandle	nh
	)

Definition at line 45 of file rc_hand_eye_calibration_client.cpp.

Member Function Documentation

void rc_hand_eye_calibration_client::HandEyeCalibClient::advertiseServices ( )

private

Advertises the services in the namespace of nh_.

Definition at line 220 of file rc_hand_eye_calibration_client.cpp.

void rc_hand_eye_calibration_client::HandEyeCalibClient::calibResponseHandler ( CalibrationResponse & res )

private

update and broadcast the internally cached calibration result.

Definition at line 136 of file rc_hand_eye_calibration_client.cpp.

bool rc_hand_eye_calibration_client::HandEyeCalibClient::calibSrv	(	rc_hand_eye_calibration_client::CalibrationRequest &	req,
		rc_hand_eye_calibration_client::CalibrationResponse &	res
	)

private

Perform the calibration and return its result.

Does not save persistently. Call saveSrv for that.

Definition at line 154 of file rc_hand_eye_calibration_client.cpp.

template<typename Request , typename Response >

bool rc_hand_eye_calibration_client::HandEyeCalibClient::callService	(	const std::string &	name,
		const Request &	req,
		Response &	res
	)

private

Definition at line 55 of file rc_hand_eye_calibration_client.cpp.

void rc_hand_eye_calibration_client::HandEyeCalibClient::dynamicReconfigureCb	(	rc_hand_eye_calibration_client::hand_eye_calibrationConfig &	config,
		uint32_t
	)

private

Definition at line 293 of file rc_hand_eye_calibration_client.cpp.

bool rc_hand_eye_calibration_client::HandEyeCalibClient::getCalibResultSrv	(	rc_hand_eye_calibration_client::CalibrationRequest &	req,
		rc_hand_eye_calibration_client::CalibrationResponse &	res
	)

private

Service call to get the result. Also returned directly via calibrate.

Definition at line 161 of file rc_hand_eye_calibration_client.cpp.

void rc_hand_eye_calibration_client::HandEyeCalibClient::initConfiguration ( )

private

Definition at line 256 of file rc_hand_eye_calibration_client.cpp.

void rc_hand_eye_calibration_client::HandEyeCalibClient::initTimers ( )

private

Initialize timers to periodically publish and/or request the calibration Depends on parameters: calibration_publication_period and calibration_request_period.

Definition at line 71 of file rc_hand_eye_calibration_client.cpp.

bool rc_hand_eye_calibration_client::HandEyeCalibClient::removeSrv	(	rc_hand_eye_calibration_client::TriggerRequest &	req,
		rc_hand_eye_calibration_client::TriggerResponse &	res
	)

private

Remove calibration so sensor reports as uncalibrated.

Definition at line 113 of file rc_hand_eye_calibration_client.cpp.

void rc_hand_eye_calibration_client::HandEyeCalibClient::requestCalibration ( const ros::SteadyTimerEvent & )

private

Wraps the above getCalibResultSrv.

Called by calib_request_timer_ for the side effect of updating and broadcasting the cached calibration via tf.

Definition at line 183 of file rc_hand_eye_calibration_client.cpp.

bool rc_hand_eye_calibration_client::HandEyeCalibClient::resetSrv	(	rc_hand_eye_calibration_client::TriggerRequest &	req,
		rc_hand_eye_calibration_client::TriggerResponse &	res
	)

private

Delete all stored data, e.g., to start over.

Definition at line 107 of file rc_hand_eye_calibration_client.cpp.

bool rc_hand_eye_calibration_client::HandEyeCalibClient::saveSrv	(	rc_hand_eye_calibration_client::TriggerRequest &	req,
		rc_hand_eye_calibration_client::TriggerResponse &	res
	)

private

store hand eye calibration on sensor

Definition at line 101 of file rc_hand_eye_calibration_client.cpp.

void rc_hand_eye_calibration_client::HandEyeCalibClient::sendCachedCalibration ( const ros::SteadyTimerEvent & = ros::SteadyTimerEvent() )

private

Definition at line 201 of file rc_hand_eye_calibration_client.cpp.

bool rc_hand_eye_calibration_client::HandEyeCalibClient::setCalibSrv	(	rc_hand_eye_calibration_client::SetCalibrationRequest &	req,
		rc_hand_eye_calibration_client::SetCalibrationResponse &	res
	)

private

Service call to set the calibration.

Definition at line 168 of file rc_hand_eye_calibration_client.cpp.

bool rc_hand_eye_calibration_client::HandEyeCalibClient::setSlotSrv	(	rc_hand_eye_calibration_client::SetCalibrationPoseRequest &	req,
		rc_hand_eye_calibration_client::SetCalibrationPoseResponse &	res
	)

private

Save given pose and the pose of the grid indexed by the given request.slot.

If slot exists, it is overwritten.

Definition at line 130 of file rc_hand_eye_calibration_client.cpp.

void rc_hand_eye_calibration_client::HandEyeCalibClient::updateCalibrationCache ( const rc_hand_eye_calibration_client::CalibrationResponse & res )

private

Copy resp into current_calibration_.

Definition at line 190 of file rc_hand_eye_calibration_client.cpp.

Member Data Documentation

std::string rc_hand_eye_calibration_client::HandEyeCalibClient::base_frame_id_ = "base_link"

private

Definition at line 137 of file rc_hand_eye_calibration_client.h.

double rc_hand_eye_calibration_client::HandEyeCalibClient::calib_publish_period_ = 0.0

private

Whether to send the transformation periodically instead of as a static transformation Zero or negative value: static tf (via latched topic, sends updates on new calibration response)

Definition at line 140 of file rc_hand_eye_calibration_client.h.

ros::SteadyTimer rc_hand_eye_calibration_client::HandEyeCalibClient::calib_publish_timer_

private

Definition at line 141 of file rc_hand_eye_calibration_client.h.

double rc_hand_eye_calibration_client::HandEyeCalibClient::calib_request_period_ = 0.0

private

If non-negative: Periodically update the calibration by requesting it.

If zero: Request only once

Definition at line 144 of file rc_hand_eye_calibration_client.h.

ros::SteadyTimer rc_hand_eye_calibration_client::HandEyeCalibClient::calib_request_timer_

private

Definition at line 145 of file rc_hand_eye_calibration_client.h.

std::string rc_hand_eye_calibration_client::HandEyeCalibClient::camera_frame_id_ = "camera"

private

Default Frame Ids to be used for the tf broadcast.

Definition at line 134 of file rc_hand_eye_calibration_client.h.

geometry_msgs::TransformStamped rc_hand_eye_calibration_client::HandEyeCalibClient::current_calibration_

private

Definition at line 132 of file rc_hand_eye_calibration_client.h.

tf2_ros::TransformBroadcaster rc_hand_eye_calibration_client::HandEyeCalibClient::dynamic_tf2_broadcaster_

private

To be used for periodic sending.

Definition at line 131 of file rc_hand_eye_calibration_client.h.

std::string rc_hand_eye_calibration_client::HandEyeCalibClient::endeff_frame_id_ = "end_effector"

private

Which one is used depends on the value of "robot_mounted" in the calibration response.

Definition at line 136 of file rc_hand_eye_calibration_client.h.

std::tuple<size_t, size_t, size_t> rc_hand_eye_calibration_client::HandEyeCalibClient::image_version_

private

Definition at line 151 of file rc_hand_eye_calibration_client.h.

ros::NodeHandle rc_hand_eye_calibration_client::HandEyeCalibClient::nh_

private

Definition at line 119 of file rc_hand_eye_calibration_client.h.

rc_rest_api::RestHelper rc_hand_eye_calibration_client::HandEyeCalibClient::rest_helper_

private

Definition at line 149 of file rc_hand_eye_calibration_client.h.

std::unique_ptr<dynamic_reconfigure::Server<rc_hand_eye_calibration_client::hand_eye_calibrationConfig> > rc_hand_eye_calibration_client::HandEyeCalibClient::server_

private

Definition at line 146 of file rc_hand_eye_calibration_client.h.

ros::ServiceServer rc_hand_eye_calibration_client::HandEyeCalibClient::srv_calibrate_

private

Definition at line 122 of file rc_hand_eye_calibration_client.h.

ros::ServiceServer rc_hand_eye_calibration_client::HandEyeCalibClient::srv_get_result_

private

Definition at line 126 of file rc_hand_eye_calibration_client.h.

ros::ServiceServer rc_hand_eye_calibration_client::HandEyeCalibClient::srv_publish_transform_

private

Definition at line 125 of file rc_hand_eye_calibration_client.h.

ros::ServiceServer rc_hand_eye_calibration_client::HandEyeCalibClient::srv_remove_

private

Definition at line 124 of file rc_hand_eye_calibration_client.h.

ros::ServiceServer rc_hand_eye_calibration_client::HandEyeCalibClient::srv_reset_

private

Definition at line 123 of file rc_hand_eye_calibration_client.h.

ros::ServiceServer rc_hand_eye_calibration_client::HandEyeCalibClient::srv_save_

private

Definition at line 121 of file rc_hand_eye_calibration_client.h.

ros::ServiceServer rc_hand_eye_calibration_client::HandEyeCalibClient::srv_set_calibration_

private

Definition at line 127 of file rc_hand_eye_calibration_client.h.

ros::ServiceServer rc_hand_eye_calibration_client::HandEyeCalibClient::srv_set_slot_

private

Definition at line 120 of file rc_hand_eye_calibration_client.h.

tf2_ros::StaticTransformBroadcaster rc_hand_eye_calibration_client::HandEyeCalibClient::static_tf2_broadcaster_

private

To be used for on-change sending only.

Definition at line 129 of file rc_hand_eye_calibration_client.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation