#include <handle_estimator.h>

Inheritance diagram for jsk_pcl_ros::HandleEstimator:

Public Types
enum	HandleType { NO_HANDLE, HANDLE_SMALL_ENOUGH_STAND_ON_PLANE, HANDLE_SMALL_ENOUGH_LIE_ON_PLANE_Y_LONGEST, HANDLE_SMALL_ENOUGH_LIE_ON_PLANE_X_LONGEST }

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::BoundingBox >	SyncPolicy

Public Member Functions
virtual	~HandleEstimator ()

Protected Member Functions
virtual void	estimate (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const jsk_recognition_msgs::BoundingBox::ConstPtr &box_msg)

virtual void	estimateHandle (const HandleType &handle_type, const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const jsk_recognition_msgs::BoundingBox::ConstPtr &box_msg)

virtual void	handleSmallEnoughLieOnPlane (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const jsk_recognition_msgs::BoundingBox::ConstPtr &box_msg, bool y_longest)

virtual void	handleSmallEnoughStandOnPlane (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const jsk_recognition_msgs::BoundingBox::ConstPtr &box_msg)

virtual void	onInit ()

virtual void	selectedIndexCallback (const jsk_recognition_msgs::Int32StampedConstPtr &index)

virtual void	subscribe ()

virtual void	unsubscribe ()

Protected Attributes
int	angle_divide_num_

double	approach_offset_

double	gripper_size_

boost::circular_buffer< boost::tuple< geometry_msgs::PoseArray, geometry_msgs::PoseArray > >	output_buf

ros::Publisher	pub_

ros::Publisher	pub_best_

ros::Publisher	pub_preapproach_

ros::Publisher	pub_selected_

ros::Publisher	pub_selected_preapproach_

message_filters::Subscriber< jsk_recognition_msgs::BoundingBox >	sub_box_

ros::Subscriber	sub_index_

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_input_

boost::shared_ptr< message_filters::Synchronizer< SyncPolicy > >	sync_

tf::TransformListener *	tf_listener_

Detailed Description

Definition at line 90 of file handle_estimator.h.

Member Typedef Documentation

◆ SyncPolicy

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::BoundingBox > jsk_pcl_ros::HandleEstimator::SyncPolicy

Definition at line 126 of file handle_estimator.h.

Member Enumeration Documentation

◆ HandleType

enum jsk_pcl_ros::HandleEstimator::HandleType

Enumerator
NO_HANDLE
HANDLE_SMALL_ENOUGH_STAND_ON_PLANE
HANDLE_SMALL_ENOUGH_LIE_ON_PLANE_Y_LONGEST
HANDLE_SMALL_ENOUGH_LIE_ON_PLANE_X_LONGEST

Definition at line 127 of file handle_estimator.h.

Constructor & Destructor Documentation

◆ ~HandleEstimator()

jsk_pcl_ros::HandleEstimator::~HandleEstimator ( )

virtual

Definition at line 95 of file handle_estimator_nodelet.cpp.

Member Function Documentation

◆ estimate()

void jsk_pcl_ros::HandleEstimator::estimate	(	const sensor_msgs::PointCloud2::ConstPtr &	cloud_msg,
		const jsk_recognition_msgs::BoundingBox::ConstPtr &	box_msg
	)

protectedvirtual

Definition at line 124 of file handle_estimator_nodelet.cpp.

◆ estimateHandle()

void jsk_pcl_ros::HandleEstimator::estimateHandle	(	const HandleType &	handle_type,
		const sensor_msgs::PointCloud2::ConstPtr &	cloud_msg,
		const jsk_recognition_msgs::BoundingBox::ConstPtr &	box_msg
	)

protectedvirtual

Definition at line 171 of file handle_estimator_nodelet.cpp.

◆ handleSmallEnoughLieOnPlane()

void jsk_pcl_ros::HandleEstimator::handleSmallEnoughLieOnPlane	(	const sensor_msgs::PointCloud2::ConstPtr &	cloud_msg,
		const jsk_recognition_msgs::BoundingBox::ConstPtr &	box_msg,
		bool	y_longest
	)

protectedvirtual

Definition at line 249 of file handle_estimator_nodelet.cpp.

◆ handleSmallEnoughStandOnPlane()

void jsk_pcl_ros::HandleEstimator::handleSmallEnoughStandOnPlane	(	const sensor_msgs::PointCloud2::ConstPtr &	cloud_msg,
		const jsk_recognition_msgs::BoundingBox::ConstPtr &	box_msg
	)

protectedvirtual

Definition at line 189 of file handle_estimator_nodelet.cpp.

◆ onInit()

void jsk_pcl_ros::HandleEstimator::onInit ( )

protectedvirtual

Definition at line 77 of file handle_estimator_nodelet.cpp.

◆ selectedIndexCallback()

void jsk_pcl_ros::HandleEstimator::selectedIndexCallback ( const jsk_recognition_msgs::Int32StampedConstPtr & index )

protectedvirtual

Definition at line 315 of file handle_estimator_nodelet.cpp.

◆ subscribe()

void jsk_pcl_ros::HandleEstimator::subscribe ( )

protectedvirtual

Definition at line 107 of file handle_estimator_nodelet.cpp.

◆ unsubscribe()

void jsk_pcl_ros::HandleEstimator::unsubscribe ( )

protectedvirtual

Definition at line 117 of file handle_estimator_nodelet.cpp.

Member Data Documentation

◆ angle_divide_num_

int jsk_pcl_ros::HandleEstimator::angle_divide_num_

protected

Definition at line 164 of file handle_estimator.h.

◆ approach_offset_

double jsk_pcl_ros::HandleEstimator::approach_offset_

protected

Definition at line 163 of file handle_estimator.h.

◆ gripper_size_

double jsk_pcl_ros::HandleEstimator::gripper_size_

protected

Definition at line 162 of file handle_estimator.h.

◆ output_buf

boost::circular_buffer<boost::tuple<geometry_msgs::PoseArray, geometry_msgs::PoseArray> > jsk_pcl_ros::HandleEstimator::output_buf

protected

Definition at line 165 of file handle_estimator.h.

◆ pub_

ros::Publisher jsk_pcl_ros::HandleEstimator::pub_

protected

Definition at line 156 of file handle_estimator.h.

◆ pub_best_

ros::Publisher jsk_pcl_ros::HandleEstimator::pub_best_

protected

Definition at line 156 of file handle_estimator.h.

◆ pub_preapproach_

ros::Publisher jsk_pcl_ros::HandleEstimator::pub_preapproach_

protected

Definition at line 156 of file handle_estimator.h.

◆ pub_selected_

ros::Publisher jsk_pcl_ros::HandleEstimator::pub_selected_

protected

Definition at line 156 of file handle_estimator.h.

◆ pub_selected_preapproach_

ros::Publisher jsk_pcl_ros::HandleEstimator::pub_selected_preapproach_

protected

Definition at line 156 of file handle_estimator.h.

◆ sub_box_

message_filters::Subscriber<jsk_recognition_msgs::BoundingBox> jsk_pcl_ros::HandleEstimator::sub_box_

protected

Definition at line 160 of file handle_estimator.h.

◆ sub_index_

ros::Subscriber jsk_pcl_ros::HandleEstimator::sub_index_

protected

Definition at line 157 of file handle_estimator.h.

◆ sub_input_

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros::HandleEstimator::sub_input_

protected

Definition at line 159 of file handle_estimator.h.

◆ sync_

boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > jsk_pcl_ros::HandleEstimator::sync_

protected

Definition at line 158 of file handle_estimator.h.

◆ tf_listener_

tf::TransformListener* jsk_pcl_ros::HandleEstimator::tf_listener_

protected

Definition at line 161 of file handle_estimator.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ SyncPolicy

Member Enumeration Documentation

◆ HandleType

Constructor & Destructor Documentation

◆ ~HandleEstimator()

Member Function Documentation

◆ estimate()

◆ estimateHandle()

◆ handleSmallEnoughLieOnPlane()

◆ handleSmallEnoughStandOnPlane()

◆ onInit()

◆ selectedIndexCallback()

◆ subscribe()

◆ unsubscribe()

Member Data Documentation

◆ angle_divide_num_

◆ approach_offset_

◆ gripper_size_

◆ output_buf

◆ pub_

◆ pub_best_

◆ pub_preapproach_

◆ pub_selected_

◆ pub_selected_preapproach_

◆ sub_box_

◆ sub_index_

◆ sub_input_

◆ sync_

◆ tf_listener_